摘要
以载人深潜器的各种水动力参数和实际尺寸为基础,根据几何空间坐标方程建立了其运动学模型,采用MultiGen公司的Creator建模工具和Vega视景环境完成了在深海虚拟环境下的系统仿真。该系统可以实现深海机器人的可视化,更加直观、生动和实时的反映其位姿状态和水面、水下巡航过程。该系统实际应用在中国科学技术馆深海机器人展馆项目上,一方面展示载人深潜器的水下工作过程,同时也使得观众有机会亲身体验潜水器的操纵与驾驶。实际运行结果表明,该系统逼真地演示了载人深潜器水面备航、无动力下潜以及近海底巡航等仿真过程,能够满足系统仿真的实时性要求。该系统还可以应用到深海环境模拟研究、水下机器人运动仿真、控制系统调试以及操纵驾驶训练等中。
Based on the hydrodynamic parameters and the actual size of HOV, a kinematics model is established using the geometry spacial equation. MultiGen＇s Creator and Vega tools are used in the visual system simulation of deep sea. The system can create visual environment and describe the real-time position, attitude and the process of cruising, hovering of HOV directly and lively. It has been applied to the deep-sea vehicle project in China Science and Technology Embassy. The project shows that this visual simulation system can realistically demonstrate the simulation process of deep-sea vehicle, including water surface preparation, unpowered descent and cruising near sea floor. Besides, it satisfies the real time requirement of system simulation. The system can apply to simulation research of deep-sea environment, motion simulation of underwater vehicle, debugging of control system and manipulation of training as well.
出处
《海洋工程》
CSCD
北大核心
2012年第1期137-144,共8页
The Ocean Engineering
基金
国家863重大专项资助项目(2002AA401002)
关键词
深海机器人
视景仿真
运动解算
deep-sea vehicle
visual simulation
motion resolving
