Hardware-in-the-Loop Simulation Applied to AUV Control

被引：0
|
作者：
Bao, D. [1 ]
Yang, R. [1 ]
Ma, Y. [2 ]
Clement, B. [3 ]
Mansour, A. [3 ]
Hou, D. [2 ]
Li, M. [1 ]
机构：
[1] Ocean Univ China, Coll Engn, Qingdao, Peoples R China
[2] Henan Key Lab Underwater Intelligent Equipment, Zhengzhou, Henan, Peoples R China
[3] ENSTA Bretagne, CNRS, UMR 6285, Lab STICC, Brest, France
来源：
2018 CHINESE AUTOMATION CONGRESS (CAC) | 2018年
基金：
中国国家自然科学基金;
关键词：
Autonomous underwater vehicle; modelling; robust control; MOOS-IvP; Hardware-in-the-loop;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a hardware-in-the-loop (HIL) system to simulate plug and play controllers for autonomous underwater vehicles (AUVs). The HIL system is a real-time simulator composed of two parts: a model-based virtual plant and an embedded controller. As HIL system does not require the design of physical systems, therefore, it can reduce the control design cost. In this paper, controller and model are both implemented using Mission Oriented Operating Suite Interval Programming (MOOS-IvP) software. At first, the AUV mathematical model is obtained by dynamic and hydrodynamic analyses. Then, a robust controller is designed considering the uncertainties and nonlinearities. The robust controller is implemented on a Raspberry Pi microcomputer, while the virtual plant is simulated on a computer. Finally, MOOS-IvP based HIL simulations are compared to MATLAB simulations.
引用
收藏
页码：1009 / 1013
页数：5
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