An underwater vehicle motion simulation system

Abstract

The present invention discloses an underwater vehicle motion simulation system, comprising: a parameter configuration module for obtaining a parameter configuration file for an underwater vehicle simulation model based on various parameters of the underwater vehicle and its external environment; a motion simulation module for obtaining motion simulation data for the underwater vehicle based on the underwater vehicle's six-degree-of-freedom motion model and the parameter configuration file; the motion simulation data including the underwater vehicle's attitude, position, speed, and navigation depth during simulated navigation; a data output and plotting module for outputting and storing data on various motion simulation data observations during the underwater vehicle's motion, and converting the motion simulation data into a graph to display the motion status in real time; and a display module for dynamically displaying the three-dimensional motion process of the physical model of the simulated object. The system of the present invention can verify the design of an underwater vehicle in the early stages, improving the efficiency of underwater vehicle development.

Description

Technical Field

[0001] The present invention relates to simulation-aided design technology, and in particular to an underwater vehicle motion simulation system. Background Art

[0002] Underwater vehicles operate in complex underwater environments. Developing underwater vehicles, such as UUVs, requires extensive verification testing in lakes or oceans, which is costly and inefficient. Some testing conditions can even make it difficult to find suitable testing sites. Simulation software, which can simulate underwater vehicle motion on a computer under realistic operating conditions, not only facilitates early verification of UUV designs but also makes underwater vehicle development more convenient and efficient. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an underwater vehicle motion simulation system in view of the defects in the prior art.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an underwater vehicle motion simulation system, comprising:

[0005] A parameter configuration module is used to obtain a parameter configuration file of the underwater vehicle simulation model according to various parameters of the underwater vehicle and the external environment;

[0006] The parameters of the underwater vehicle include: the mass, volume and shape of the underwater vehicle, horizontal and rudder angles, and propulsion system parameters;

[0007] The parameters of the external environment include: flow velocity and flow direction data of water bodies;

[0008] A motion simulation module, used for obtaining motion simulation data of the underwater vehicle according to a six-degree-of-freedom motion model and a parameter configuration file of the underwater vehicle;

[0009] The motion simulation data includes the attitude, position, speed and navigation depth information of the underwater vehicle during the simulated navigation process;

[0010] The six-degree-of-freedom motion model of the underwater vehicle is established as follows:

[0011] The equation of motion of the spacecraft is as follows:

[0012]

[0013]

[0014]

[0015]

[0016] Among them, [p n p e p d ] T is the position of the spacecraft in the inertial coordinate system along the north, east and ground directions, [φ θψ] T are the roll angle, pitch angle, and heading angle of the vehicle relative to the inertial coordinate system, [uvw] T is the velocity of the spacecraft in the three axes in the motion coordinate system; [f x f y f z ] T is the force in the three axes in the motion coordinate system, which is obtained by decomposing the gravity, propulsion, buoyancy and resistance of the vehicle in the linear motion state; [lmn] T is the moment of the three axes of the spacecraft, calculated according to the horizontal and rudder steering gear angles; [pqr] T are the angular velocities along the three axes in the spacecraft motion coordinate system;

[0017] The motion coordinates and inertial coordinates are converted using the following conversion equation;

[0018]

[0019] The data output and drawing module is used to output and save the data of various motion simulation data observation quantities of the underwater vehicle during motion, and convert the motion simulation data into a curve graph to display the motion status in real time;

[0020] The display module dynamically displays the three-dimensional motion of the simulated object's physical model. It converts the simulated object's three-dimensional data file into a three-dimensional array containing point and surface information, which is then displayed on a 3D interface. Simultaneously, it reads the vehicle's motion data calculated by the motion simulation module in real time, performs matrix operations, and then updates the data to the interface, providing a real-time animated display of the motion process.

[0021] The beneficial effects produced by the present invention are:

[0022] The present invention calculates various observation quantities of a specific underwater vehicle in the entire simulation cycle based on the physical model parameters and external environment setting parameters of the vehicle, can verify the design scheme of the underwater vehicle in the early stage, and improve the development efficiency of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0024] Figure 1 It is a structural diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] like Figure 1 As shown, an underwater vehicle motion simulation system includes:

[0027] The parameter configuration module is used to obtain the parameter configuration file of the underwater vehicle simulation model based on various parameters of the underwater vehicle and the external environment; the parameter configuration file stores all the physical parameters of the simulation object, and the parameter file is directly stored and modified in the JSON file format.

[0028] The parameters of the underwater vehicle include: the mass, volume and shape of the underwater vehicle, horizontal and rudder angles, and propulsion system parameters;

[0029] The parameters of the external environment include: flow velocity and flow direction data of water bodies;

[0030] A motion simulation module, used for obtaining motion simulation data of the underwater vehicle according to a six-degree-of-freedom motion model and a parameter configuration file of the underwater vehicle;

[0031] The motion simulation data includes the attitude, position, speed and navigation depth information of the underwater vehicle during the simulated navigation process;

[0032] The six-degree-of-freedom motion model of the underwater vehicle is established as follows:

[0033] The motion simulation model makes the following basic assumptions: the underwater vehicle is a rigid body, and its shape is symmetrical about the xoz plane and the xoy plane; during the motion process, the mass of the underwater vehicle is constant.

[0034] The inertial coordinate system is a coordinate system fixed to the earth. The NED coordinate system is selected, and its origin is a point on the ground. The kinematic coordinate system is established on the underwater vehicle, and its origin is at the center of mass of the underwater vehicle.

[0035] The equation of motion of the spacecraft is as follows:

[0036]

[0037]

[0038]

[0039]

[0040] Among them, [p n p ep d ] T is the position of the spacecraft in the inertial coordinate system along the north, east and ground directions, [φ θψ] T are the roll angle, pitch angle, and heading angle of the vehicle relative to the inertial coordinate system, [uvw] T is the velocity of the spacecraft in the three axes in the motion coordinate system; [f x f y f z ] T is the force in the three axes in the motion coordinate system, which is obtained by decomposing the gravity, propulsion, buoyancy and resistance of the vehicle in the linear motion state; [lmn] T is the moment of the three axes of the spacecraft, calculated according to the horizontal and rudder steering gear angles; [pqr] T are the angular velocities along the three axes in the spacecraft motion coordinate system;

[0041] The motion coordinates and inertial coordinates are converted using the following conversion equation;

[0042]

[0043] According to the above formula, the linear velocity, angular velocity and attitude of the spacecraft during movement can be calculated.

[0044] The data output and drawing module is used to output and save the data of various motion simulation data observation quantities of the underwater vehicle during motion, and convert the motion simulation data into a curve graph to display the motion status in real time;

[0045] The display module dynamically displays the three-dimensional motion of the simulated object's physical model. It converts the simulated object's three-dimensional data file into a three-dimensional array containing point and surface information, which is then displayed on a 3D interface. Simultaneously, it reads the vehicle's motion data calculated by the motion simulation module in real time, performs matrix operations, and then updates the data to the interface, providing a real-time animated display of the motion process.

[0046] The simulation system works as follows: For a specific underwater vehicle, its physical model parameters are input into the parameter configuration module. The motion simulation module then imports these model parameters and calculates various observations of the vehicle, such as attitude, velocity, coordinates, and depth, throughout the simulation cycle. The data output module saves these observations to files for subsequent analysis and displays the changes in various states using graphs. The 3D display module can directly import mechanical structure files generated by mechanical design software to display the motion simulation process in animated form.

[0047] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An underwater vehicle motion simulation system, characterized in that: include: A parameter configuration module is used to obtain a parameter configuration file of the underwater vehicle simulation model according to various parameters of the underwater vehicle and the external environment; The parameters of the underwater vehicle include: the mass, volume and shape of the underwater vehicle, horizontal and rudder angles, and propulsion system parameters; The parameters of the external environment include: flow velocity and flow direction data of water bodies; A motion simulation module, used for obtaining motion simulation data of the underwater vehicle according to a six-degree-of-freedom motion model and a parameter configuration file of the underwater vehicle; The motion simulation data includes the attitude, position, speed and navigation depth information of the underwater vehicle during the simulated navigation process; The six-degree-of-freedom motion model of the underwater vehicle is established as follows: The equation of motion of the spacecraft is as follows: Among them, [p n p e p d ] T is the position of the spacecraft in the inertial coordinate system along the north, east and ground directions, [φ θ ψ] T are the roll angle, pitch angle, and heading angle of the vehicle relative to the inertial coordinate system, [uvw] T is the velocity of the vehicle in the three axes in the motion coordinate system; [f x f y f z ] T is the force in the three axes of motion in the coordinate system, which is obtained by decomposing the gravity, propulsion, buoyancy and resistance of the vehicle in the linear motion state; [lmn] T is the moment of the three axes of the spacecraft, calculated according to the horizontal and rudder steering gear angles; [pqr] T are the angular velocities along the three axes in the spacecraft motion coordinate system; The motion coordinates and inertial coordinates are converted using the following conversion equation; The data output and drawing module is used to output and save the data of various motion simulation data observation quantities of the underwater vehicle during motion, and convert the motion simulation data into a curve graph to display the motion status in real time; The display module is used for the dynamic display of the three-dimensional motion process of the physical model of the simulation object.

2. The underwater vehicle motion simulation system according to claim 1, characterized in that: In the display module, the dynamic display of the three-dimensional motion process of the physical model of the simulation object is specifically as follows: According to the three-dimensional data file of the simulation object, it is converted into a three-dimensional array containing point and surface information, and then displayed on the 3D interface. At the same time, the aircraft motion simulation data calculated by the motion simulation module is read in real time, and then refreshed to the interface after matrix operation, and the motion process is displayed in real time animation.

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