Semi-physical simulation joint debugging system and method of AUV (Autonomous Underwater Vehicle) control and execution system

Abstract

The invention provides a semi-physical simulation joint debugging system and method for an AUV (Autonomous Underwater Vehicle) control and execution system. The semi-physical simulation joint debugging system is characterized in that detection equipment is used for collecting real-time data of the execution system and feeding back the real-time data to a main simulation machine; the main body simulation machine is used for calculating the current position and attitude of the AUV according to the data fed back by the detection equipment, generating virtual underwater environment data according to the initial environment parameters and the calculated data, and transmitting the virtual underwater environment data to the sensor simulation machine; the sensor simulation machine is used for simulating the response of a real sensor according to the underwater environment information and generating virtual sensor data; the control system is used for determining a control strategy according to the virtual sensor data and the initial task parameters and sending a control instruction to the execution system; the execution system is used for executing actions according to the control instructions. According to the invention, the dependence on expensive hardware facilities is reduced, the overall development cost is greatly reduced, the accurate control and real-time monitoring of the simulated underwater environment are realized, and the accuracy and reliability of the simulation process are ensured.

Description

Technical Field

[0001] The present invention belongs to the field of underwater vehicles, and in particular, relates to a semi-physical simulation joint debugging system and method for an AUV control and execution system. Background Art

[0002] The control and execution system of AUV (Autonomous Underwater Vehicle) is its core part, which directly affects its autonomous navigation, positioning and mission execution capabilities in underwater environments. AUV systems usually include power systems, navigation systems, control systems, communication systems and execution systems. In order to improve the performance and reliability of AUV, detailed simulation and verification are required when designing and testing AUV control and execution systems.

[0003] Hardware-in-the-loop (HIL) refers to combining the simulation parts of hardware and software, and partially using physical hardware to verify the performance of the system. Semi-physical simulation is a hybrid simulation method that can test the behavior of the system in a simulated environment as close to real conditions as possible, thereby improving the reliability and efficiency of the system development process. Existing simulation systems have the following defects:

[0004] High cost: Existing technologies usually rely on dedicated hardware platforms and high-precision simulation environments, which significantly increases the overall development cost of the system. Especially in underwater environment simulation and complex sensor simulation, the demand for hardware has greatly increased the project budget.

[0005] Poor flexibility and difficulty in expansion: Existing semi-physical simulation systems usually have fixed hardware configurations and simulation models, lacking flexibility and scalability. Once a new module needs to be added or the simulation model needs to be improved, the system usually needs to be reconfigured or significantly modified, resulting in poor system scalability.

[0006] Complicated process: In the existing technology, since each submodule of the system needs frequent debugging and optimization, the entire R&D process is cumbersome and time-consuming. After each hardware adjustment, comprehensive simulation and debugging need to be re-performed, resulting in a long development cycle. Summary of the invention

[0007] The embodiment of the present application provides a semi-physical simulation joint debugging system and method for an AUV control and execution system, which reduces the dependence on expensive hardware facilities, greatly reduces the overall development cost, and realizes precise control and real-time monitoring of the simulated underwater environment, ensuring the accuracy and reliability of the simulation process.

[0008] In a first aspect, the present application provides a semi-physical simulation joint debugging system for an AUV control and execution system, including: a control system, an execution system, a detection device, a main body simulator, and a sensor simulator;

[0009] The detection device is used to collect real-time data of the execution system and feed the collected data back to the main simulation machine;

[0010] The main body simulator is used to calculate the current position and attitude of the AUV according to the data fed back by the detection equipment, and to generate virtual underwater environment data according to the initial environmental parameters and the calculated data and transmit it to the sensor simulator;

[0011] The sensor simulator is used to simulate the response of a real sensor according to the underwater environment information provided by the main simulator, generate virtual sensor data, and send the virtual sensor data to the control system;

[0012] The control system is used to determine the control strategy based on the virtual sensor data and the initial task parameters, and send control instructions to the execution system;

[0013] The execution system is used to execute actions according to the instructions of the control system.

[0014] Among them, it also includes a power battery, which includes a main battery, an emergency battery and a battery management system. The main battery provides power for the execution system and the control system, and the emergency battery is used to provide backup power when the main battery fails; it also includes an energy management and control system, which is used to optimize the scheduling of the main battery and the emergency battery according to the power requirements of the AUV, and interact with the AUV control system and the power distribution system in real time to monitor the energy status and predict the remaining energy and operating time; the power battery provides power for the energy management and control system.

[0015] Among them, it also includes a power distribution system, which is connected to the control system, the execution system and the detection equipment respectively.

[0016] It also includes a monitoring device, which is used to collect and store information of the main simulation machine and display it in the form of charts.

[0017] It also includes shore-based equipment, which is used to provide initial environmental parameters for the main simulation machine and initial task parameters for the control system.

[0018] The execution system includes a propulsion motor, a stern rudder, a bow rudder, a folding mechanism, a buoyancy adjustment mechanism, a jettisoning mechanism and an open water mechanism.

[0019] Among them, in the execution system, during the steering gear test, the steering gear load is calculated using the following formula:

[0020] Tload =mgL g -ρ 水 V L f +M* 水动力扭矩 )

[0021] oeLh g is the gravitational torque part, m: the mass of the rudder, g: gravitational acceleration, L g : The vertical distance from the center of mass to the steering gear shaft;

[0022] ρ 水 V L f is the buoyancy torque part, ρ 水 : Density of water, V: Volume of water displaced by the rudder blade, L f : The vertical distance from the center of buoyancy to the steering gear shaft;

[0023] M (水动力扭矩) : Hydrodynamic torque part, the parameter values ​​involved in the hydrodynamic torque are obtained through hydrodynamic simulation analysis.

[0024] Among them, the ejection mechanism of the execution system is fixed on the first platform, and an adjustment slide rail is provided under the bearing surface of the first platform, and a first vertical slide rail and a second vertical slide rail are installed on both sides of the adjustment slide rail, and the distance between the first vertical slide rail and the second vertical slide rail can be adjusted by adjusting the slide rail; the first horizontal slide rail connects the lower part of the first vertical slide rail and the second vertical slide rail, and the distance between the first horizontal slide rail and the bearing surface can be adjusted by the first vertical slide rail and the second vertical slide rail; proximity sensors are respectively installed in the first vertical slide rail, the second vertical slide rail and the first horizontal slide rail.

[0025] Among them, the travel motor of the execution system is fixed on the second frame, the second frame is provided with a second horizontal slide rail, the second horizontal guide rail is installed with a third vertical slide rail and a fourth vertical slide rail, the relative position of the third vertical slide rail and the fourth vertical slide rail can be adjusted through the second horizontal guide rail, and proximity sensors are installed on the third vertical slide rail and the fourth vertical slide rail to realize effective testing of the travel range and working speed of the travel motor.

[0026] In a second aspect, the present application provides a semi-physical simulation joint debugging method for an AUV control and execution system, comprising:

[0027] The detection equipment collects real-time data from the execution system and feeds the collected data back to the main simulation machine;

[0028] The main body simulator calculates the current position and attitude of the AUV based on the data fed back by the detection equipment, generates virtual underwater environment data based on the initial environmental parameters and the calculated data, and transmits it to the sensor simulator;

[0029] The sensor simulator simulates the response of the real sensor according to the underwater environment information provided by the main simulator, generates virtual sensor data, and sends the virtual sensor data to the control system;

[0030] The control system is used to determine the control strategy based on the virtual sensor data and the initial task parameters, and send control instructions to the execution system;

[0031] The execution system executes actions according to the instructions of the control system.

[0032] The semi-physical simulation joint debugging system and method of the AUV control and execution system of the embodiment of the present application have the following beneficial effects:

[0033] This application reduces the reliance on expensive hardware facilities by optimizing the combination of software and hardware in the semi-physical simulation system, and adopts a more flexible and scalable simulation platform, which greatly reduces the overall development cost. This application adopts a modular design, which can easily add new sensors, actuators or task models according to needs, and flexibly adjust the simulation environment, greatly improving the scalability and customizability of the system, ensuring that the system can be widely used in different application scenarios. This application shortens the development cycle and simplifies the joint debugging process of hardware and software by adopting an efficient simulation and real-time feedback mechanism, making development work more efficient and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the semi-physical simulation joint debugging system structure of the AUV control and execution system of the present application embodiment. Figure 1 ;

[0035] Figure 2a This is a second structural diagram of a semi-physical simulation joint debugging system of an AUV control and execution system according to an embodiment of the present application;

[0036] Figure 2b This is a structural schematic diagram 3 of the semi-physical simulation joint debugging system of the AUV control and execution system of the embodiment of the present application;

[0037] Figure 3a The data flow of the semi-physical simulation joint debugging system of the AUV control and execution system of the embodiment of the application is Figure 1 ;

[0038] Figure 3b This is a data flow diagram 2 of the semi-physical simulation joint debugging system of the AUV control and execution system of the embodiment of the present application;

[0039] Figure 4 This is the structure diagram of the load dump test system;

[0040] Figure 5 This is the connection structure diagram of the stroke motor test system;

[0041] Figure 6 This is the structural diagram of the buoyancy adjustment system;

[0042] Figure 7 This is the structural diagram of the servo test system;

[0043] Figure 8 This is the structural diagram of the propulsion motor test system. DETAILED DESCRIPTION

[0044] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0045] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present invention, and different embodiments can be replaced or combined, so this application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more of all other possible combinations of features A, B, C, and D, even though the embodiment may not be clearly recorded in the following text.

[0046] The semi-physical simulation joint debugging system and method for AUV control and execution system usually involves the following aspects:

[0047] Simulation and verification of control systems: The AUV control system makes decisions by receiving sensor information (such as depth, heading, speed, etc.) to control the actuators such as steering gear and thrusters. In order to verify the effectiveness and stability of the control algorithm, it is necessary to test it in a simulation environment. Traditional control system simulation often relies on complete digital simulation or model simulation, which can simulate the behavior of the system, but cannot fully simulate the actual situation when the hardware interacts with the environment.

[0048] The role of the semi-physical simulation joint debugging system: The semi-physical simulation joint debugging system combines the control algorithm and hardware (such as actuators, etc.) to establish a feedback loop between the real hardware and the computer simulation model, so that the effect of the interaction between the hardware and the control algorithm can be reflected in real time during the test process. This method is closer to the actual situation than pure software simulation and can effectively detect problems in the actual operation of the system, such as delays, noise, hardware failures, etc.

[0049] Software and hardware co-simulation: The semi-physical simulation system uses software and hardware collaboration to coordinate the control part of the AUV (such as the control algorithm) and the execution system (such as the propeller, steering gear, sensors and other hardware devices). The control system can interact with the hardware in real time through the simulation model to simulate the behavior of the AUV in different marine environments.

[0050] The advantages of semi-physical simulation systems include: Reduced development costs and time: Semi-physical simulation allows extensive testing in a laboratory environment, avoiding the high cost of direct testing in a real environment. Improved system reliability: Continuous adjustments and optimizations can be made between real hardware and simulation models to ensure the reliability of the control system in actual operation. Accurate debugging and optimization: Through joint debugging of hardware and control systems in a simulation environment, control algorithms, execution systems and other components can be adjusted more accurately to optimize performance.

[0051] Application scenarios: The semi-physical simulation joint debugging system can be widely used in the design, debugging, optimization and fault diagnosis of AUVs, especially in complex underwater tasks (such as seabed exploration, rescue, environmental monitoring, etc.), which can provide strong support for the autonomy and execution of AUVs.

[0052] like Figure 1 As shown, the semi-physical simulation coordination system of the AUV control and execution system of the present application includes: a control system 10, an execution system 11, a detection device 12, a main body simulator 13, and a sensor simulator 14; the detection device 12 is used to collect real-time data of the execution system 11, and feed the collected data back to the main body simulator 13; the main body simulator 13 is used to calculate the current position and posture of the AUV according to the data fed back by the detection device 12, and generate virtual underwater environment data according to the initial environmental parameters and the calculated data and pass it to the sensor simulator 14; the sensor simulator 14 is used to simulate the response of the real sensor according to the underwater environment information provided by the main body simulator 13, generate virtual sensor data, and send the virtual sensor data to the control system 10; the control system 10 is used to determine the control strategy according to the virtual sensor data and the initial task parameters, and send control instructions to the execution system 11; the execution system 11 is used to perform actions according to the instructions of the control system 10.

[0053] like Figure 2a As shown, the semi-physical simulation joint debugging system of the AUV control and execution system of the present application is used for functional inspection, process verification and endurance testing of underwater unmanned vehicles before installation on the boat to ensure the correctness, appropriateness and reliability of the relevant controllers and execution systems. The system of the present application includes monitoring equipment 15, a main body simulator 13, shore-based equipment 16, a sensor simulator 14, a control system 10, an execution system 11, a detection device 12, an energy management system 18 and a power battery 17.

[0054] The power battery 17 includes a main battery, an emergency battery and a corresponding battery management system (BMS). The main battery provides power for the execution system, energy management system and control system, and the emergency battery provides backup power when the main battery fails. The energy management system 18 optimizes the scheduling of the main battery and the emergency battery according to the power demand of the AUV, and interacts with the AUV control system and the power distribution system in real time to monitor the energy status and predict the remaining energy and operating time.

[0055] In some embodiments, Figure 2b and Figure 3b As shown, the system of the present application also includes a power distribution system 19, which is respectively connected to the control system 10, the execution system 11, and the detection equipment 12 to provide power supply therefor. Specifically, the power distribution system 19 provides instrument power for the control system 10, provides instrument power and power for the execution system 11, and provides instrument power and drive power for the detection equipment 12.

[0056] The execution system 11 includes a propulsion motor, a stern rudder, a bow rudder, a folding mechanism, a buoyancy adjustment mechanism, a jettisoning system, and an open water mechanism. The control system 10 is responsible for managing and adjusting the operation of the equipment to ensure that the AUV performs the task according to the predetermined target and method. The detection equipment 12 is responsible for collecting real-time data of the execution system and feeding it back to the main simulation computer.

[0057] The main simulator 13 has a dynamic simulation model, an underwater environment model and a real-time status display function. The dynamic model calculates the current position and attitude of the AUV based on the propulsion motor torque, speed, rudder angle and other data fed back by the detection equipment. The underwater environment model generates virtual underwater environment data based on the output data of the dynamic model and transmits it to the sensor simulator. The real-time status display function can display each execution system, AUV status and current underwater environment information.

[0058] Based on the pre-designed controller mathematical model, combined with the AUV's dynamic model, and using the real-time feedback of the detection equipment on the rudder angle, propulsion motor speed and torque, the current position and attitude of the AUV are accurately calculated to obtain its specific underwater status information.

[0059] The sensor simulator 14 generates corresponding virtual sensor data based on the underwater environment information provided by the main simulator and transmits it to the control system. The monitoring device 15 is responsible for collecting and storing the information of the main simulator and displaying it in the form of charts. The shore-based equipment 16 provides initial mission parameters and environmental parameters for the main simulation computer and control system.

[0060] like Figure 3aAs shown, the monitoring device 15 collects data and model information fed back by the detection device 12 from the main simulator 13. The main simulator 13 receives the initial environmental parameters provided by the shore-based equipment 16, uses this information to generate virtual underwater environmental data, and transmits it to the sensor simulator 14. The sensor simulator 14 simulates the response of the real sensor according to the virtual underwater environmental data, generates virtual sensor data, and sends this data to the control system 10 as a basis for decision-making.

[0061] The control system 10 receives the virtual sensor data from the sensor simulator 14 and the initial mission parameters provided by the shore-based equipment 16, and formulates a control strategy based on this information. The control system 10 then sends precise control instructions to the execution system 11 to instruct the execution system 11 to perform the corresponding actions. The control system 10 sends instructions to the energy management system 18 to ensure that the power battery 17 provides the required power. The energy management system 18 responds to the control instructions, dispatches the power battery 17 and provides power to the execution system 11, monitors the battery status, and sends feedback data back to the control system 10. In some embodiments, Figure 3b As shown, electrical power supply is provided by a power distribution system 19 .

[0062] The execution system 11 performs actions according to the instructions of the control system 10, such as adjusting torque, speed and steering angle, and monitors the execution of these actions through the detection device 12. The detection device 12 collects the operation data of the execution system 11, such as torque, speed, steering angle and switch signal, and feeds these data back to the main simulation machine 13 for further analysis and adjustment. Based on these feedback data, the main simulation machine 13 generates a new round of virtual underwater environment data and starts the simulation process of the next cycle.

[0063] The entire system forms a closed-loop control through the circulation of these data streams, achieving precise control and real-time monitoring of the simulated underwater environment, ensuring the accuracy and reliability of the simulation process. This closed-loop control mechanism not only improves the simulation efficiency, but also enhances the adaptability and stability of the system.

[0064] like Figure 4 As shown, the load dump test program includes:

[0065] The ejection mechanism 50 is firmly fixed on the first stand 51. An adjustment rail 53 is provided below the bearing table 52 of the first stand 51. The first vertical rail 54 and the second vertical rail 55 are both installed on the adjustment rail 53. The adjustment rail 53 can flexibly adjust the distance between the first vertical rail 54 and the second vertical rail 55 to meet the testing requirements of ejection mechanisms of different specifications. A first horizontal rail 56 is also provided below the first vertical rail 54 and the second vertical rail 55. The first horizontal rail 56 connects the first vertical rail 54 and the second vertical rail 55. The first horizontal rail 56 can be used to accurately adjust the distance between it and the bearing table 52 to ensure the adjustability and adaptability of the test environment.

[0066] Proximity sensors are installed in the first vertical rail 54, the second vertical rail 55 and the first horizontal rail 56. These proximity sensors are installed perpendicular to the rail surfaces where they are located and facing the inside of the rails, so as to accurately monitor the position changes of the dumping mechanism during operation and provide reliable data support for the test.

[0067] During the test, the distance of the first horizontal rail needs to be precisely adjusted according to the actual length of the telescopic rod of the dumping mechanism. At the same time, the distance between the two vertical rails is flexibly adjusted according to the degree of expansion of the guide block. During the adjustment process, ensure that the key components of the dumping mechanism are always within 60% to 80% of the detection distance of the proximity sensor, so as to ensure that the proximity sensor can efficiently and accurately monitor the operating status of the dumping mechanism, providing a strong guarantee for the reliability of the test data.

[0068] like Figure 5 As shown, the stroke motor test solution includes:

[0069] Test equipment: A proximity sensor is a sensor used to detect the proximity or contact of an object, usually without physical contact, to sense the presence of the target object. It triggers a response by detecting changes in the position or distance of the target object.

[0070] The travel motor 40 is firmly fixed on the second platform 45, and the second platform 45 is equipped with a second horizontal slide rail 41 and two vertical slide rails: a third vertical slide rail 42 and a fourth vertical slide rail 43. Proximity sensors 44 are installed on the third vertical slide rail 42 and the fourth vertical slide rail 43. The second horizontal slide rail 41 can flexibly adjust the relative positions of the third vertical slide rail 42 and the fourth vertical slide rail 43, while the third vertical slide rail 42 and the fourth vertical slide rail 43 can accurately adjust the installation position of the proximity sensor, thereby realizing effective testing of the travel range and working speed of the travel motor.

[0071] Counting from the start of the stroke motor, the first proximity sensor (sensor close to the stroke motor) is placed sideways, and the second proximity sensor is placed facing the stroke motor. By determining the order in which the two sensors are triggered, the stroke range of the stroke motor can be accurately confirmed. It is necessary to carefully check whether the position of the stroke motor at the moment the sensor is triggered is within the established stroke range. For example, during the extension of the stroke motor, from the triggering of the first sensor to the triggering of the second sensor, the distance moved by the stroke motor should be within its specified stroke range (the specific value depends on the motor specifications). If the actual running distance exceeds this range, it indicates that there is a problem with the stroke.

[0072] The distance between the two sensors is known (this distance can be accurately determined based on the specific stroke of the stroke motor and the actual installation position of the sensors). With the help of the recorded time (start sensor trigger time and end sensor trigger time) and distance, the actual speed of the stroke motor during this stroke can be calculated. Compare the calculated actual speed with the rated speed of the stroke motor. If it is within the error range allowed by the rated speed, it means that the speed of the stroke motor meets the requirements; conversely, if it exceeds the error range, it indicates that the speed is abnormal.

[0073] like Figure 6 As shown, the buoyancy adjustment mechanism test program includes:

[0074] Float level sensor: It is a sensor used to measure the level of liquid (such as water, oil or other liquids). Its working principle is based on the buoyancy principle, that is, the float floats up and down with the change of liquid level, thereby realizing the detection of liquid level. By knowing the shape (such as cylindrical, rectangular, etc.) and size of the water tank, the amount of water in the water tank can be calculated according to the liquid level height.

[0075] The float liquid level sensor is precisely installed in the customized water bucket 60, and the barrel design is adapted to the sensor characteristics. Based on the Archimedes principle, when the water level changes, the float adjusts its position sensitively due to the change in buoyancy, and converts the position change into an electrical signal through the built-in mechanical or magnetic induction device, accurately outputting the liquid level signal.

[0076] The customized bucket and buoyancy adjustment system are supported by a stable stand to ensure stable placement and precise fixation, ensuring the normal operation of the sensor. In addition, based on the bucket size and real-time liquid level, the water inflow and outflow can be calculated, providing key data for system management.

[0077] The servo test program includes:

[0078] like Figure 7As shown, the system for measuring the rotation angle of the steering gear motor includes a stand 75, on which are arranged the steering gear 70, the output shaft 71, the first coupling 72, the angle sensor 73, and the load motor 74. The angle sensor 73 can monitor the rotation angle change of the output shaft in real time and accurately, and convert the angle information into an electrical signal output, which is convenient for subsequent data analysis and processing.

[0079] The first coupling 72 is a key component to ensure the stable operation of the entire connection system. It is like a bridge, firmly connecting the servo 70 and the angle sensor 73, and the angle sensor 73 and the load motor 74. On the one hand, the first coupling 72 can reliably transmit torque to ensure that the power is smoothly transmitted from the servo 70 to the load motor 74; on the other hand, the first coupling 72 also has a certain buffering and compensation capacity, which can effectively reduce the impact caused by factors such as equipment installation errors and vibrations during operation, reduce system errors, and thus ensure the stability and accuracy of the entire measurement system.

[0080] In order to apply load to the steering gear, a load motor 74 is introduced into the design. The load motor 74 simulates various resistance conditions that the steering gear 70 may encounter in actual work, and by providing a stable and variable load, the steering gear 70 can be tested under different working conditions. This not only helps to evaluate the performance of the steering gear when subjected to different loads, such as torque output, speed stability, etc., but also provides important data support for the optimal design and practical application of the steering gear.

[0081] All equipment is installed on the bench 75 to achieve orderly connection and coordinated operation. The bench provides a stable support platform for the entire measurement system, ensuring that the relative positions of various components remain stable during operation, avoiding the accuracy of the measurement results affected by shaking or displacement.

[0082] To accurately evaluate the angle control accuracy of the servo in an underwater environment, it is necessary to accurately simulate the actual load it bears. After all, only by relying on accurate load calculation can it be determined whether the servo can operate normally under given underwater conditions.

[0083] Servo load calculation:

[0084] In order to accurately simulate the actual load that the servo is subjected to in an underwater environment, the following formula can be used to calculate the actual load of the servo when it is running in water:

[0085] T load =mgL g -ρ 水 V L f +M (水动力扭矩)

[0086] ①mgL g : Gravity torque part.

[0087] m: The mass of the rudder blade, measured in kilograms (kg), reflects the amount of material contained in the rudder blade and determines the magnitude of gravity.

[0088] g: acceleration due to gravity, usually about 9.8m / S 2 , which is a measure of the acceleration of objects near the Earth's surface due to gravity.

[0089] L g : The vertical distance from the center of mass to the servo shaft, that is, the gravity arm, is measured in meters (m). It determines the length of the arm that generates torque on the servo shaft due to gravity.

[0090] ②ρ 水 V L f : Buoyancy torque part.

[0091] ρ 水 : Density of water, in kg / m 3 , usually 1000Kg / m 3 , which is one of the key parameters for calculating the buoyancy.

[0092] V: The volume of water displaced by the rudder blade, in m 3 , when the rudder is fully submerged, it is equal to the volume of the rudder itself and is used to determine the size of the buoyancy.

[0093] L f :The vertical distance from the center of buoyancy to the steering gear shaft is the buoyancy arm, which is measured in meters (m). It determines the length of the arm that generates torque on the steering gear shaft. The buoyancy arm has a fixed value. When performing related work, it is necessary to accurately determine the buoyancy arm value of the rudder blade.

[0094] ③M (水动力扭矩) :Hydrodynamic torque section.

[0095] The specific parameter values ​​involved in the hydrodynamic torque are obtained through hydrodynamic simulation analysis.

[0096] The propulsion motor test program includes:

[0097] like Figure 8 As shown, the system for measuring propulsion motor parameters includes a stand 86, on which a propulsion motor 81, an output shaft 82, a second coupling 83, a torque and speed sensor 84, and a load motor 85 are arranged. The stand 86 provides a stable support platform for the entire measurement system, ensuring that the relative positions of various components remain stable during operation, and avoiding the accuracy of the measurement results being affected by shaking or displacement.

[0098] The torque and speed sensor 84 can monitor the torque and speed changes of the output shaft in real time and accurately, and convert this information into electrical signal output, which is convenient for subsequent data analysis and processing. The second coupling 83 firmly connects the propulsion motor 81 with the torque and speed sensor 84, and the torque and speed sensor 84 with the load motor 85. On the one hand, the second coupling 83 can reliably transmit torque to ensure that the power is smoothly transmitted from the propulsion motor 81 to the load motor 85; on the other hand, the second coupling 83 also has a certain buffering and compensation capacity, which can effectively reduce the impact caused by factors such as equipment installation errors and vibrations during operation, reduce system errors, and thus ensure the stability and accuracy of the entire measurement system.

[0099] In order to apply a load to the propulsion motor 81, a load motor is introduced into the design. The load motor simulates various resistance conditions that the propulsion motor may encounter in actual work, and by providing a stable and variable load, the propulsion motor can be tested under different working conditions. This not only helps to evaluate the performance of the propulsion motor 81 when subjected to different loads, such as torque output, speed stability, etc., but also provides important data support for the optimized design and practical application of the propulsion motor 81.

[0100] This application reduces the reliance on expensive hardware facilities by optimizing the combination of software and hardware in the semi-physical simulation system, and adopts a more flexible and scalable simulation platform, which greatly reduces the overall development cost. This application adopts a modular design, which can easily add new sensors, actuators or task models according to needs, and flexibly adjust the simulation environment, greatly improving the scalability and customizability of the system, ensuring that the system can be widely used in different application scenarios. This application shortens the development cycle and simplifies the joint debugging process of hardware and software by adopting an efficient simulation and real-time feedback mechanism, making development work more efficient and convenient.

[0101] The present application also provides a semi-physical simulation joint debugging method for an AUV control and execution system, comprising: a detection device collects real-time data of the execution system, and feeds back the collected data to a main simulation machine; the main simulation machine calculates the current position and posture of the AUV based on the data fed back by the detection device, generates virtual underwater environment data based on initial environmental parameters and calculated data, and transmits the data to a sensor simulation machine; the sensor simulation machine simulates the response of a real sensor based on the underwater environment information provided by the main simulation machine, generates virtual sensor data, and sends the virtual sensor data to a control system; the control system is used to determine a control strategy based on the virtual sensor data and initial task parameters, and sends control instructions to the execution system; the execution system executes actions according to the instructions of the control system.

[0102] In the present application, the semi-physical simulation joint debugging method embodiment of the AUV control and execution system is basically similar to the semi-physical simulation joint debugging system embodiment of the AUV control and execution system. For relevant matters, please refer to the introduction of the semi-physical simulation joint debugging system embodiment of the AUV control and execution system.

[0103] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the semi-physical simulation joint debugging method steps of the AUV control and execution system are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A semi-physical simulation joint debugging system for AUV control and execution system, characterized in that: include: Control system, execution system, detection equipment, subject simulator, sensor simulator; The detection device is used to collect real-time data of the execution system and feed the collected data back to the main simulation machine; The main body simulator is used to calculate the current position and attitude of the AUV according to the data fed back by the detection equipment, and to generate virtual underwater environment data according to the initial environmental parameters and the calculated data and transmit it to the sensor simulator; The sensor simulator is used to simulate the response of a real sensor according to the underwater environment information provided by the main simulator, generate virtual sensor data, and send the virtual sensor data to the control system; The control system is used to determine the control strategy based on the virtual sensor data and the initial task parameters, and send control instructions to the execution system; The execution system is used to execute actions according to the instructions of the control system.

2. According to claim 1, the semi-physical simulation joint debugging system of the AUV control and execution system is characterized in that: It also includes a power battery, which includes a main battery, an emergency battery and a battery management system. The main battery provides power for the execution system and the control system, and the emergency battery is used to provide backup power when the main battery fails; it also includes an energy management and control system, which is used to optimize the scheduling of the main battery and the emergency battery according to the power demand of the AUV, and interact with the AUV control system and the power distribution system in real time to monitor the energy status and predict the remaining energy and operating time; the power battery provides power for the energy management and control system.

3. According to claim 1, the semi-physical simulation joint debugging system of the AUV control and execution system is characterized in that: It also includes a power distribution system, which is connected to the control system, the execution system, and the detection equipment respectively.

4. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: It also includes a monitoring device, which is used to collect and store information of the subject simulation machine and display it in the form of charts.

5. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: It also includes shore-based equipment, which is used to provide initial environmental parameters for the main simulation machine and initial task parameters for the control system.

6. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: The execution system comprises a propulsion motor, a stern rudder, a bow rudder, a folding mechanism, a buoyancy adjustment mechanism, a jettisoning mechanism and an open water mechanism.

7. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: In the execution system, during the servo test, the servo load is calculated using the following formula: T load =mgL g -ρ 水 gVL f +M (水动力扭矩) oeLh g is the gravitational torque part, m: the mass of the rudder, g: gravitational acceleration, L g : The vertical distance from the center of mass to the steering gear shaft; ρ 水 V L f is the buoyancy torque part, ρ 水 : Density of water, V: Volume of water displaced by the rudder blade, L f : The vertical distance from the center of buoyancy to the steering gear shaft; M *水动力扭矩) : Hydrodynamic torque part, the parameter values ​​involved in the hydrodynamic torque are obtained through hydrodynamic simulation analysis.

8. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: The ejection mechanism of the execution system is fixed on the first platform, and an adjustment slide rail is provided under the bearing surface of the first platform. The first vertical slide rail and the second vertical slide rail are installed on both sides of the adjustment slide rail, and the distance between the first vertical slide rail and the second vertical slide rail can be adjusted by adjusting the slide rail; the first horizontal slide rail connects the lower part of the first vertical slide rail and the second vertical slide rail, and the distance between the first horizontal slide rail and the bearing surface can be adjusted by the first vertical slide rail and the second vertical slide rail; proximity sensors are respectively installed in the first vertical slide rail, the second vertical slide rail and the first horizontal slide rail.

9. The semi-physical simulation joint debugging system of the AUV control and execution system according to any one of claims 1 to 3, characterized in that: The travel motor of the execution system is fixed on a second frame, a second horizontal slide rail is provided on the second frame, a third vertical slide rail and a fourth vertical slide rail are installed on the second horizontal guide rail, the relative position of the third vertical slide rail and the fourth vertical slide rail can be adjusted through the second horizontal guide rail, and proximity sensors are installed on the third vertical slide rail and the fourth vertical slide rail to realize effective testing of the travel range and working speed of the travel motor.

10. A semi-physical simulation joint debugging method for AUV control and execution system, characterized in that: include: The detection equipment collects real-time data from the execution system and feeds the collected data back to the main simulation machine; The main body simulator calculates the current position and attitude of the AUV based on the data fed back by the detection equipment, generates virtual underwater environment data based on the initial environmental parameters and the calculated data, and transmits it to the sensor simulator; The sensor simulator simulates the response of the real sensor according to the underwater environment information provided by the main simulator, generates virtual sensor data, and sends the virtual sensor data to the control system; The control system is used to determine the control strategy based on the virtual sensor data and the initial task parameters, and send control instructions to the execution system; The execution system executes actions according to the instructions of the control system.

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