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18 7 © Vol. 18 No. 7
2006 7 July, 2006
Journal of System Simulation
, 150001
TP391.9 A 1004-731X(2006)07-2026-04
Design of Semi Physical Motion Simulation System
of Underwater Vehicle
GAN Yong, MAO Yu-feng, WAN Lei, XU Yu-ru
(Depart. Of Naval Architecture and Oceanic Eng, Harbin Engineering University, Harbin 150001, China )
Abstract: Semi physical motion simulation system of underwater vehicle was established by combining physical simulation
of control layer with virtual simulation of sensory and executive layer. Not only the software logic but also the hardware
architecture, information interface and reliability could be verified with the semi physical motion simulation system. The
hardware and software architecture of the simulation system were explained in detail. The virtual simulation of
hydrodynamics, motion sensors and physical simulation of control layer were described. Finally, the long distance motion
simulation and obstacle avoidance simulation tests were conducted to demonstrate the importance of the system for the
success of sea experiments.
Key words: underwater vehicle; semi physical motion simulation; hardware architecture; software architecture; motion
control
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