为了将ROV虚拟仿真技术更好地应用于系统验证，建立ROV半实物仿真系统的架构，并研发了观测级ROV半实物仿真系统。研究和实现了基于Modelica语言的ROV运动仿真和基于Unity3D引擎的ROV视景仿真，其物理模型和视景模型具有较好的可重用性和扩展性。研究了ROV定向定深控制方法，并通过仿真实验进行了验证。本文提出的基于OPC UA协议的系统架构，降低了半实物仿真软件系统的耦合性，可有效提高集成测试的效率。
In order to apply ROV virtual simulation technology more efficiently to system verification, a framework is built for hardware-in-the-loop simulation system of ROV, and a hardware-in-the-loop simulation system of the observation level ROV is developed. The motion simulation of ROV based on Modelica language and the visual simulation of ROV based on Unity3D engine are researched and realized, its physical model and visual model has better reusability and scalability. The control method of yaw and depth of ROV is researched and verified by the simulation experiment. The framework based on OPC UA protocol proposed in this paper can decouple the software system of hardware-in-the-loop simulation and effectively improve the efficiency of integration testing.
2021,43(10): 57-60 收稿日期：2020-08-21
DOI：10.3404/j.issn.1672-7649.2021.10.013
分类号：TP391.9;TP242
基金项目：海南省重大科技计划项目(ZDKJ2019002)
作者简介：倪昱(1980-),男,硕士,高级工程师,主要研究方向为系统仿真、虚拟现实等
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