Design, Implementation, and Refinement of a Hardware-in-the-Loop Simulator for a Hovering AUV

被引：0

作者：

Woolsey, M. ^{[1
]}

Jarnagin, R. ^{[1
]}

机构：

[1] Univ So Mississippi, Natl Inst Undersea Sci & Technol, Undersea Vehicle Technol Ctr, Abbeville, MS 38601 USA

来源：

2012 OCEANS | 2012年

关键词：

Vehicle simulation; AUV testing;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A simulator was designed for troubleshooting the hovering AUV Mola Mola, operated by the National Institute for Undersea Science and Technology. The SeaBED class Mola Mola had suffered several failures in its last 2010 cruise and two 2011 cruises. Through simulator testing, these failures were found to be a single power system issue that manifested itself in three very different ways as it worsened during the differing conditions of the cruises. The simulator supplies navigation parameters to the vehicle control system while monitoring the AUVs thruster RPM. Running the simulator with the vehicle in air can reveal general mission behaviors. By mounting the thrusters in a water tank and monitoring the opened housing electronics, power issues can be examined during the course of simulated missions.

引用

页数：4

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