Research And Design Of Hardware-in-the-loop Simulation Of Underwater Glider

Underwater glider is a new kind of system combining technologies of buoy and underwater robotics. It can get motivation by changing net buoyancy, and direction can be controlled by changing the center of gravity. Using hardware-in-the-loop simulation system for underwater glider test has low cost, efficient, real-time characteristics.This article briefly describes the developments of underwater glider and automated test systems at home and abroad, and the origin and significance of the subject is mentioned; then makes an overall overview to the underwater glider and describes the working principle of underwater glider, hardware and software structure design and HIL simulation system and so on. Finally, HIL simulation system to evaluate the performance results of gliders. The main work and innovations include:1. According to the semi-physical simulation and automated software testing needs of underwater glider, a semi-physical simulation system based on LabVIEW NI PXIe-1062 platform is proposed to improve the development efficiency simulation applications and the reliability.2. Through real experimental data and theoretical model comparison analysis, the pitch angle model and velocity model for semi-physical simulation system to improve the authenticity of the simulation system.3. Semi-physical simulation system can simulate the multi-task and profile gliding of underwater glider.4. The marine environment simulation system can simulate the storm, stream, complex sea conditions and complex terrain simulation, so the simulation is closer to the actual environment and the simulation results is more authentic.Based on the above, the design and implementation of an underwater glider real-time semi-physical simulation platform can test the modules and functions and evaluate the performance of glider. The simulation system is real-time and is similar to the actual results, and the system has been successfully applied.