CN107301802A - A kind of manned underwater vehicle simulation system - Google Patents
A kind of manned underwater vehicle simulation system Download PDFInfo
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- CN107301802A CN107301802A CN201710631498.5A CN201710631498A CN107301802A CN 107301802 A CN107301802 A CN 107301802A CN 201710631498 A CN201710631498 A CN 201710631498A CN 107301802 A CN107301802 A CN 107301802A
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- G—PHYSICS
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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- G—PHYSICS
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
- G09B9/063—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles by using visual displays
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Abstract
The present invention relates to a kind of manned underwater vehicle simulation system, including manned underwater vehicle emulation body, data simulation platform and vision emulation system, and interconnected between each system by high speed Ethernet exchange machine, real structure of the manned underwater vehicle emulation body to simulate flood dragon manned underwater vehicle, including overall appearance size, indoor environment and the operating system consistent with real ship；The data simulation platform is to produce the sensing detecting data acquired in flood dragon manned underwater vehicle various kinds of sensors, to emulate the digital environment that the cabin controlling system of body provides an emulation；The vision emulation system is based on the seabed real image captured by flood dragon manned underwater vehicle dive, submarine hydrothermal solution spout behaviour area, the class seabed of seamount range area sea basin polymetallic nodules distributed area three are built by microcomputer modelling and emulate visual environment, and the movement and conversion of seabed what comes into a driver's can be realized by the movement instruction of cabin controlling system.
Description
Technical field
The present invention relates to a kind of simulation system, more particularly to a kind of simulation system of manned underwater vehicle.
Background technology
Manned underwater vehicle refers to, by carrying personnel's driver behavior, support supporting and accessory system with life, possess under water
The removable diving outfit of work capacity.Manned underwater vehicle cannot be only used for underwater test, it may also be used under water geology and geomorphology and
Resource exploration, Undersea Scientific Expedition, under water underwater project construction, the work purposes such as rescue, at present in China's deep-sea geology, life
Important function has been played in the scientific investigation in the fields such as thing and seabed resources exploration.Manned underwater vehicle is safe efficient as one kind
Carrying platform under water, aquanaut, engineers and technicians or scientist can be carried and carry out underwater operation activity.
The dive personnel and manned underwater vehicle water surface commanding that manned underwater vehicle is carried are required to by system
Training, the training of aquanaut is manipulation and the operation skill of grasping manned submersible under normal conditions, the marine instruction of real ship first
White silk is extremely important and essential；But marine real ship training needs large ship and other corollary equipments, and marine manipulation
Training needs to select suitable sea area, and cycle of training is long, and deep diving reality ship training once spends hundreds thousand of nearly million yuan easily；Meanwhile,
Manned deep diving needs a large amount of frequently manipulate to train, and can not estimate by real ship training manpower and materials, it is impossible to realize long-term
Low-cost high-efficiency training.
Not yet there are the riding manipulation simulator researched and developed for manned underwater vehicle or simulation system at present, thus need proposition one
The scheme of kind provides Important Platform for the real ship operating technology technical ability of manned underwater vehicle for improving aquanaut and related personnel.
The content of the invention
The present invention proposes a kind of manned underwater vehicle simulation system for defect present in prior art, is carried for simulating
People's submersible, indoor environment, service data and seabed what comes into a driver's are combined, and are that the land simulation training of manned underwater vehicle aquanaut is carried
For required technical equipment.
The present invention is realized using following technical scheme, a kind of manned underwater vehicle simulation system, including passes through ether
Manned underwater vehicle emulation body, vision emulation system and the data simulation platform of network switch interconnection；The manned underwater vehicle
Emulate real structure of the body to simulate flood dragon manned underwater vehicle, including simulation shell, manned capsule and cabin controlling system；
The vision emulation system is built based on the seabed real image captured by flood dragon manned underwater vehicle dive by computer
Mould builds seabed emulation visual environment, and realizes by the movement instruction of cabin controlling system the movement and conversion of seabed what comes into a driver's；
The data simulation platform, to produce the sensing detecting data on flood dragon manned underwater vehicle acquired in sensor, is manned latent
Hydrophone emulation body cabin controlling system provides the digital environment of an emulation.
Further, the manned underwater vehicle emulation body also includes the operation system being connected respectively with cabin controlling system
System, the logical simulation system of sight, underwater sound communication simulation system and life support simulation system, and manned capsule front portion is provided with observation
Window；The operating system includes sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；It is described to see logical mould
Plan system includes video monitoring system in shooting lighting apparatus and cabin；The underwater sound communication simulation system includes underwater sound communication in cabin
Computer, simulation underwater sound telephone, microphone and audio amplifier；The life support simulation system include oxygen system model in cabin, it is standby
Oxygen system model, carbon dioxide filter out tank model, indoor environment monitoring Panel Data, life support display and control panel model and
Emergency respiratory mask model.
Further, the cabin controlling system includes navigation control analog module and comprehensive aobvious control analog module, and institute
State navigation control analog module, comprehensive aobvious control analog module and pass through Ethernet and underwater sound communication simulation system, vision emulation system
It is connected with numeral simulation analysis.
Further, the vision emulation system includes being arranged on annular projection's post curtain, the high-performance meter in front of observation window
Calculation machine work station and graphics acceleration card, projection unit and the electron sea artwork to the training region what comes into a driver's of display setting in real time
Block；The electronic chart module generates and shows simulation manned underwater vehicle relative to the position of lash ship, submersible in geodetic coordinates
The posture of position, submersible in system（Including course, depth, trim, height, speed, collision prevention etc.）, submersible is relative to operation
The position of target, and analog temperature, salinity produced according to location data, depth, height, cabin internal control is sent to low speed degrees of data
System processed；High-performance computer work station calls what comes into a driver's information according to electronic chart module, and the what comes into a driver's packet contains according to flood dragon
The digitlization seabed emulation what comes into a driver's data that the seabed video recording that dragon manned underwater vehicle is shot makes, what comes into a driver's information accelerates by figure
Annular projection's post curtain is projected to after card computing by projection unit to be shown.
Further, annular projection's post curtain is more than 5m 120 degree of seamless spliced post curtains using radius, can cover manned
Cabin observation window absolute visual field.
Further, the data simulation platform includes the impeller system digital simulation mould being connected with cabin controlling system
Block, hydraulic system digital simulation module, ballast and trim regulating analog module and battery system digital simulation module；Controlled in cabin
System receive the manned underwater vehicle location data that electronic chart module sends and according to location data produce analog temperature, salinity,
Depth, height, to low speed degrees of data；Boat of the impeller system digital simulation module to receive manned capsule internal operating system
Row operation handle controlled quentity controlled variable simultaneously produces simulation propeller electric current and feedback data accordingly, while according to manned underwater vehicle kinetic simulation
Type calculates manned underwater vehicle analog rate and acceleration information；The hydraulic system digital simulation module is to produce manned diving
Device emulates simulation hydraulic system pressure, electric current and the tank temperature data of body；The ballast is used with trim regulating analog module
Load instruction and front and rear mercury liquid level trim regulating sensing data are thrown with the simulation ballast for producing manned underwater vehicle emulation body；It is described
Battery system digital simulation module to the main storage battery of simulated diving device system, secondary battery, the voltage of standby battery with
Current data.
Further, the data simulation platform also includes manned underwater vehicle Mishap Database, by controlling above-mentioned data
Change modeling manned underwater vehicle related system failure occur and fault recovery, the fault message that the Mishap Database is included
Including：The raw Variable Conditions of time of failure, failure triggering, failure are related to the when m- numerical value of variable list, involved variable
Change and Failure elimination condition.
Further, the data simulation platform realizes data interaction with cabin controlling system, and interaction content includes：It is manned
Submersible geodetic coordinates position, manned underwater vehicle posture and movement velocity, manned underwater vehicle shifting ballast system data, submersible
Depth, height, CTD data, life-support system data in cabin, anticollision sonar data, submersible battery current voltage energy consumption,
Lash ship position, lash ship movement velocity, submersible are with respect to lash ship position data.
Compared with prior art, advantages and positive effects of the present invention are：
Manned underwater vehicle simulation system proposed by the present invention, combines manned underwater vehicle and drives and make with control simulation technology, seabed
The series key technology such as industry process simulation technology, catastrophic failure analogue technique and abyssal environment visual simulation technology, is formd
A set of body construction, indoor environment, deep-sea what comes into a driver's, work flow, failure response, material object, half material object are combined with Digital Simulation
Global function multitask dynamic simulator system, it is possible to achieve submersible hangs in water, dive operation to deck from and reclaims whole process and drive
Sail with operation simulation as the technology assembling needed for the land simulation training of manned underwater vehicle aquanaut is provided and software systems, as latent
Basic manipulation training means before boat person's reality ship manipulation, may be repeated manipulation training, simulated training expense is low, security
Height, exploitativeness is strong.
Brief description of the drawings
Fig. 1 is simulation system theory diagram described in the embodiment of the present invention.
Embodiment
In order to be more clearly understood from the above objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and implement
The present invention will be further described for example.
The present embodiment discloses a kind of manned underwater vehicle simulation system, with reference to Fig. 1, including manned underwater vehicle emulation body, number
Interconnected according to emulation platform and vision emulation system, and between each system by high speed Ethernet exchange machine, it is described manned latent
Hydrophone emulates real structure of the body to simulate flood dragon manned underwater vehicle, including the overall appearance size consistent with real ship,
Indoor environment and operating system；The data simulation platform is obtained to produce each subsystem sensor of flood dragon manned underwater vehicle
The sensing detecting data taken, to emulate the digital environment that the cabin controlling system of body provides an emulation；The vision simulation
System builds seabed heat based on the seabed real image captured by flood dragon manned underwater vehicle dive by microcomputer modelling
Liquid spout behaviour area, the class seabed of seamount range area sea basin polymetallic nodules distributed area three emulation visual environment, and can be by cabin
The movement instruction of control system realizes the movement and conversion of seabed what comes into a driver's.
The realization of concrete scheme is as follows：
First, manned underwater vehicle emulation body：
The manned underwater vehicle emulation body that the present embodiment is proposed includes simulation shell, manned capsule, cabin controlling system, and with dividing
The connected operating system of other cabin controlling system, the logical simulation system of sight, underwater sound communication simulation system and life support simulation system.
1）, simulation shell：Lower supporter is sat including main frame, emulation light shell, emulation stabilizer and emulation, carrier frame is
The skeleton of submersible, the main frame carries out light-weight design, and main frame structure is built in the form of steel material is welded, full
Foot emulation body part is installed, support load-bearing and transport hang requirement, and the emulation light shell uses high-strength engineering plastic system
Make, the stabilizer is made and consistent stabilizer in kind using wood materials；The manned capsule front portion is provided with observation window, sees
Window is examined to make using lucite, including a diameter of observation window of 200 millimeters and two observations for 120 millimeters of diameter
Window.
2）, manned capsule be sphere structure that internal diameter is 2.1m, made by 78mm titanium alloy material, the top of manned capsule is set
Put also a diameter of 480mm access hatch.Observation window is arranged on the front lower portion of manned capsule, and is also set in the rear lower of manned capsule
Be equipped with a cable penetration unit disk, cabin be laid out it is basically identical with flood dragon manned underwater vehicle, including cabin internal wiring case, support,
Deflector, seat, operating desk, VHF, loudspeaker, aobvious control computer, display, light and video recorder etc. in cabin；Use telephone
Instead of underwater sound telephone, the simulation of phonetic function is realized, observation window is made using lucite, the wherein observation of 200 millimeters of diameter
Window 1, the observation window that 120 millimeters of diameter 2 in simulation manned capsule spherical shell, keeps internal diameter 2.1m constant, using 10mm or so
The steel plate punched of thickness is into two hemisphere, then is welded into an overall spherical shell, and access hatch is consistent with actual size, is welded to phase
Position is answered, then a hatch board is set, is formed and consistent access hatch structure in kind.Flight operations hand is provided with manned capsule
Handle, control panel, comprehensive aobvious control computer, navigation control computer, underwater sound communication computer, Underwater Camera and camera are aobvious
Show device and its operation handle, with reference to manned capsule spherical shell, simplify hatch board, cabin inner support, deflector, seat, operating desk, floor energy
Enough form an indoor environment consistent with real flood dragon manned underwater vehicle manned capsule；
3）, cabin controlling system：Including navigation control analog module and comprehensive aobvious control analog module, both pass through Ethernet and water
Sound communication simulation system, vision emulation system are connected with numeral simulation analysis.
The navigation control analog module will be collected to realize collection and the control function of control device signal
Information be supplied to comprehensive aobvious control analog module；Navigation control analog module is that manned underwater vehicle realizes that skimulated motion and simulation are navigated
The system of row control, its major function simulated includes motion hand behaviour, automatic orientation control, automatic fixed high control, automatic fixed
The function such as deep control, unpowered dive and floating, station keeping, it is by manipulating control panel realization in manned capsule to implement
The motion control of submersible and gesture stability, using the instrument on submersible, instrument etc., complete submersible cruise, observation and make
The purposes such as industry.In order to reproduce operation conditions of the manned underwater vehicle in ocean, navigation control analog module by data-interface to
Vision emulation system sends submersible motion control data, and being based on kinematical equation by the vision emulation system carries out manned diving
The simulation of device exercise data is resolved, and by resolving the irregular wave spectral density function under different marine environment, calculates submersible each
Coordinate space component motion, the position in running and posture are obtained, and navigation control is real-time transmitted to by data-interface
Simulation system, realizes motion simulation of the manned underwater vehicle in ocean.
Navigation control analog module is main by software systems and hardware system, and its hardware system includes navigation control and calculated
Interchanger, hardware interface device etc. in machine, cabin, software systems mainly realize mission planning and bottom control algorithm and it is virtual and
The control function of entity hardware device, and its hardware signal transmission equipment RS-232 serial servers, RS-485/422 serial ports clothes
The type selecting for device, I/O Node Controllers and the I/O modules of being engaged in is consistent with real ship control system equipment type selecting, simulates management system
There is data interface protocol between training command system, carry out submersible motion, the feedback of state of a control and commander's instruction, failure
Produce the transmission of the information such as instruction.The control information of manned underwater vehicle emulation body is obtained from navigation control computer, by navigating by water
Control computer control command control simulation propeller produces motive force, according to arrangement of the simulation propeller on manned underwater vehicle
Position, can in the hope of manned underwater vehicle thrust allocation matrix, then manned underwater vehicle is dynamic in thrust matrix, ocean current and fluid
Its current position and posture can be calculated in the presence of mechanics, according to its position and posture, virtual various navigation
Feedback information is sent to navigation control computer by sensor, sonar sensor and other sensors, is completed a job and is followed
Ring continues next working cycles, and go round and begin again operation.
The aobvious control analog module of the synthesis is signalman personnel and the interface of the information interchange of cabin controlling system, operation
Member obtains the working conditions such as submersible, lash ship, power tool by the interface, and the comprehensive display ＆ control system is by Ethernet with leading
The locating module that navigates is connected, in real time the every terms of information of display submersible.Specifically include sensor information detection module, information processing with
Fusion Module, presentation of information and alarm module, Diagnosis and Analysis module, electrical equipment operation and detection module, electrically set
Standby control module and data recordin module；Sensed in the sensor information detection module manned capsule outer sensor group and manned capsule
Device group, manned capsule outer sensor group includes realizing simulation propeller electric current or rotating speed, CTD data, the leakage report of each autoclave
The compensation alarm of alert, filling type container, mercury liquid level, variable ballast tank liquid level, the operating pressure of hydraulic system
With return pressure, hydraulic system temperature, various electrical equipment temperatures, ballast release conditions, 110V supply voltages and electric current, 24V
The various kinds of sensors of the sensor information such as supply voltage and electric current, backup battery voltage and electric current detection；Manned capsule inner sensor
Group includes realizing course, trim, heel, speed, 3 axial accelerations, angular speed, angular acceleration, temperature, humidity, two in cabin
Aoxidize the sensor informations such as concentration of carbon, oxygen concentration detection various kinds of sensors；Presentation of information includes integrated information with alarm module
Display screen, the display panel to sound and light alarm and battery parameter display panel, the intergrated information display screen is according to behaviour's ship
Pattern is shown, and the function manipulation key set with display pattern is shown with page-turnable；The electrical equipment operation and inspection
The guidance panel that module is provided with various equipment is surveyed, is responsible for detection guidance panel operation information, and operating result real-time Transmission is given
Cabin controlling system；The electrical equipment control module control signal driving electrical equipment running, according to drive signal type point
For output switch parameter and adjustable analog output, and corresponding drive circuit is equipped with as needed.
4）, operating system：Including sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；It is described
Simulate propeller and carry out design of Simulation with reference to flood dragon object construction, mainly by motor, accurate planetary reducer and spacing spiral
Slurry composition, simulation propeller passes through ± 5v classes control signal and carries out speed control, and 7 are provided with altogether on 7000 meters of manned underwater vehicles
Individual propeller, is four stern propellers, two vertical thrusters and a lateral conduit thruster respectively, they are collectively formed
The propulsion system of 7000 meters of manned underwater vehicles, power is provided for 7000 meters of manned underwater vehicles；The manipulator includes master-slave mode machine
Tool hand and switching regulator manipulator, the power of hydraulic power source are not less than 10kw, and hydraulic power source, manipulator and its facilty design reference
Flood dragon manned underwater vehicle operating system is designed, and with reference to actual deep diving operation experience, is influenceed by deep-sea extreme environment, is driven matchmaker
Jie's hydraulic pressure oil nature will can also be affected with depth, temperature change, hydraulic power source and related executing agency, particularly manipulator
Operation response will appear from slowing down or delay phenomenon；The change of these operating environments by directly affect aquanaut operation stability,
Accuracy, reduction sampling operation, the success rate of test measurement, therefore instructed by simulating like environment, equipment variations by land
Practice the adaptability that aquanaut is directed to varying environment, also function to the effect of certain psychological training.
5）, see logical simulation system：Including video display ＆ control system in photography and vedio recording lighting apparatus and cabin, a land is specifically included
Upper high definition camera, two heads with two rotational freedoms of level and pitching, two land high clear colorful video cameras, 14
The land illuminating lamps of platform LED, four tunnels input DVR；Break through simulation manned capsule system development, deep sea manned submersible operation
The key technologies such as simulation, form the manned underwater vehicle ontology model consistent with flood dragon physical form, use with the real ship of flood dragon number
For the principle of template, simplify internal unit and installation；Emulation light shell or buoyant material cover invisible part and not set in installation
Standby model, all standing is realized in outside.
6）, underwater sound communication simulation system：Including underwater sound communication computer, simulation underwater sound telephone, microphone and audio amplifier, cabin in cabin
Outer depth measurement side scan sonar model, anticollision sonar model, imaging sonar model and ultra-short baseline transponder model.Underwater acoustic communication set meter
Calculation machine is developed a set of underwater sound communication simulation softward, passed through using the underwater sound communication system of current flood dragon manned underwater vehicle as prototype
The underwater acoustic channel of Ethernet transmission simulation flood dragon underwater sound communication system, while the exploitation mould consistent with genuine interface visual effect
Intend interface, realize original function, ensure that original button position and color are constant, realize submersible simulation system manned capsule and the external world
The content such as voice, image, word, Morse code, submersible status data transmission.Simulation underwater sound telephone passes through wireless speech
The backup underwater voice communication systemic-function of the real ship of intercom system simulation flood dragon number.Microphone and audio amplifier are used as voice signal in cabin
Man-machine interface completes voice signal input and output.
7）, life support simulation system：In simulation manned capsule cabin is realized by being installed on the Air conditioner air exchange hole near floor
Interior air exchange, therefore life supports simulation system only to reflect its physical location consistent with real ship and profile by model, specifically
Including：Oxygen system model, standby oxygen system model, carbon dioxide filter out tank model, indoor environment monitoring surface template die in cabin
Type, life support display and control panel model, emergency respiratory mask model.
The simulated diving device framework and light shell for the manned underwater vehicle emulation that the present embodiment is proposed can form one and true
The emulation manned underwater vehicle of real flood dragon manned underwater vehicle outward appearance unanimously；The aobvious control computer of synthesis in manned capsule can be real-time
Receive submersible position data, athletic posture data and hydraulic system, power train that simultaneously display data emulation platform is sent
Display and DVR in system, the analogue data of life-support system, manned capsule can be realized to image on emulation body
The simulation underwater sound communication system and underwater sound telephone that machine, video recorder are recorded in the display and storage, and manned capsule of picture can divide
Wired call that Shi Xian be with external control stand and wireless communication.The design of body, Ke Yishi are emulated according to the manned underwater vehicle
In existing cabin operation simulation, propeller rotate simulation, video camera simulation, lighting simulation, master-slave manipulators operation simulate,
Switching regulator manipulator abandons the functions such as simulation, ballast desertion functional simulation, and flexibly, training more facilitates for operational control.
2nd, vision emulation system：
The vision emulation system includes being arranged on 120 degree of annular projection's post curtains, high-performance computer work in front of observation window
Stand and graphics acceleration card, projection unit and the electronic chart module to the training region what comes into a driver's of display setting in real time；The electricity
Sub- sea chart module generates and shows position of position, submersible of the simulation manned underwater vehicle relative to lash ship in earth coordinates
Put, the posture of submersible（Including course, depth, trim, height, speed, collision prevention etc.）, submersible relative to operative goals position
Put, and analog temperature, salinity are produced according to location data, depth, height, cabin controlling system is sent to low speed degrees of data；
High-performance computer work station calls what comes into a driver's information according to electronic chart module, and the what comes into a driver's packet contains manned according to flood dragon number
The digitlization seabed emulation what comes into a driver's data that the seabed video recording that submersible is shot makes, what comes into a driver's information is after graphics acceleration card computing
Annular projection's post curtain is projected to by projection unit to be shown.Wherein, annular projection's post curtain is more than the 120 of 5m using radius
Seamless spliced post curtain is spent, manned capsule observation window absolute visual field can be covered.
In specific design, the technology of vision emulation system, which is realized, considers submersible motion mathematical model and deep-sea ring
Border visual simulation system.Submersible motion mathematical model applied hydrodynamics and spatial kinetics algorithm, it is considered to which submersible is in first
Plate prepare, lay recoverys, water filling dive, dive throw loads, the navigation of nearly bottom, the operation that lands, throwing load make a return voyage, draining floating, recovery first
The change of associ-ated motion parameters under the different motion working condition such as plate, sets up deep water six-freedom motion equation and approximately level six certainly
By the degree equation of motion, using high-performance computer work station, equation of motion solution is carried out using fourth order Runge-Kutta algorithm, is realized
The Real-time solution of the various athletic posture numerical value such as submersible is sailed through in abyssal environment, turned round, pitch movements, and each motion point
Numerical quantity is real-time transmitted to visual display, master control platform.
Deep-sea visual simulation system Combining with technology of virtual reality, graphics technology, the generation of 3 D stereo what comes into a driver's and reproduction
Technology, operating personnel's such as interactive simulation environment on the spot in person can be made by producing, and realize operator and seabed 3 D stereo
The direct natural interaction of what comes into a driver's；Abyssal environment visual simulation system can simulate manned underwater vehicle and be operated in smooth bottom environment and multiple
Miscellaneous environments such as subsea, and the spatial movement for the real-time dynamic change reproduction manned underwater vehicle for passing through three-dimensional vision, are realized in deep-sea ring
The realistic looking representation of the performance such as direct route, revolution, pitch movements in border.The high brightness stereopsis that abyssal environment visual simulation technology is equipped with
Scape system can provide the high fidelity seabed virtual scene in multiple hands-on tasks for operator, aquanaut is such as come to personally
Deep-sea drives the sensation of latent device.
Abyssal environment visual simulation system is for abyssal environment feature and bathyscaphs such as deep-sea geology and geomorphology, interior ripple, underflows
Kinetic characteristic, carries out high realism virtual scene three-dimensional modeling, seabed special geomorphology such as deep-sea hydrothermal vent, abyssopelagic organism, cobalt
The virtual special efficacy of crust etc. is realized, is built based on seamount, is aided with the virtual depth of paddy, trench, the cliff of displacement, smooth bottom and ocean current etc.
Extra large three-dimensional vision database, and electronic chart module, build the seamless spliced three-dimensional vision system of high brightness wide visual field corner post curtain, real
The real time information for now resolving computer with latent device motion model is exchanged, and drives three-dimensional vision system to respond operation with real-time synchronization
The operation of personnel, so that motion of the realistic simulation manned underwater vehicle in Six-freedom-degree space, gives sensation on the spot in person, reach
To the purpose of training.
Specifically in the training process, training-sea area, setting training subject are selected by master control platform coach, system event is set
Barrier, monitoring aquanaut training, record training data etc., master control platform sets the what comes into a driver's passage that a viewpoint can change, and makes coach
The motion that whole manned underwater vehicle emulates body can be observed.It is completely the same that manned underwater vehicle emulation body is equipped with manned underwater vehicle
Commanding apparatus and control system, aquanaut by these equipment realize and system real-time, interactive, and will control and manipulation letter
Breath is real-time transmitted to six-freedom motion model, and the six-freedom motion number of module real-time resolving submersible is resolved by motion model
According to.Three-dimensional vision system manipulates information etc. according to six-degree-of-freedomovement movement data and manipulator, and real-time synchronization updates seabed virtual field
Scape, so that the spatial movement of the manned underwater vehicle of dynamic reproduction in real time, and the response that system is operated to operating personnel.
It is low that vision emulation system equipment described in the present embodiment sets up simple, consumptive material expense, and with actual diving process without
Difference, normalization, interactivity and the property immersed of vision emulation system is high, contributes to the training to operator.
3rd, data simulation platform：
The data simulation platform includes impeller system digital simulation module, the hydraulic system number being connected with cabin controlling system
According to analog module, ballast and trim regulating analog module, battery system data module；The impeller system data module is used to
Receive in cabin flight operations handle controlled quentity controlled variable and produce accordingly and simulate propeller electric current and feedback data, while according to manned diving
Device kinetic model calculates manned underwater vehicle analog rate and acceleration information；The hydraulic system digital simulation module is to produce
The simulation hydraulic system pressure and current data of raw manned underwater vehicle emulation body；The ballast is used with trim regulating analog module
To produce the simulation ballast and trim regulating sensing data of manned underwater vehicle emulation body；The battery system data module is used to
Produce simulation main storage battery, secondary battery, the voltage of standby battery and the current data of emulation main body system；And will be above-mentioned complete
Portion's data are sent to cabin controlling system.
In addition, in order to improve simulated training effect, the data simulation platform also includes manned underwater vehicle Mishap Database
And module occurs for simulated failure, by controlling the failure of change modeling manned underwater vehicle related system of above-mentioned data to occur and event
Barrier recovers, and the fault message that the Mishap Database is included includes：The raw Variable Conditions of time of failure, failure triggering, event
Barrier is related to the when m- numerical value change and Failure elimination condition of variable list, involved variable.Module occurs for the simulated failure
In the design process, the content and its source first to failure are analyzed, and carry out classification simulation according to fault type, specifically
By summarizing the failure that flood dragon manned underwater vehicle occurred in application process, sorting out when failure occurs may be by
Device, the part of influence, when system simulation produces failure, carry out functional restraint so that simulation is manipulated to related function module
Control system can be true to nature reproduction failure.Simulated failure occurs module and receives the failure life generated according to Mishap Database first
Order, by virtual data generation technique, produces the random detection information more than respective thresholds, is sent at navigation control computer
Reason, completes the renewal of man-machine interface fault message, and according to flood dragon failure Producing reason and its performance, correlation execution is set
The feedback response of standby implementation status and sensor, which is made, is reasonably closed down, and simultaneously fault status information is sent in real time
Vision emulation system and command centre, answer to complete the linkage of whole operation simulating system failure, to grasp start-up's failure
The situation of anxious operation.
Data simulation platform described in the present embodiment is based on the service data of true submersible, and simulated diving device is made under water
Various kinds of sensors data variation during industry, and can be triggered in failure with simulating manned dive by numerical value change under elimination instruction
Failure and its recovery situation that hydrophone training system occurs.
The above described is only a preferred embodiment of the present invention, being not the limitation for making other forms to the present invention, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment and be applied to other fields, but every without departing from technical solution of the present invention content, the technical spirit according to the present invention
Any simple modification, equivalent variations and the remodeling made to above example, still fall within the protection domain of technical solution of the present invention.
Claims (8)
1. a kind of manned underwater vehicle simulation system, it is characterised in that including the manned underwater vehicle interconnected by Ethernet switch
Emulate body, vision emulation system and data simulation platform；
Real structure of the manned underwater vehicle emulation body to simulate flood dragon manned underwater vehicle, including simulation shell, load
People cabin and cabin controlling system；
The vision emulation system is based on the seabed real image captured by flood dragon manned underwater vehicle dive, by calculating
Machine modeling builds seabed emulation visual environment, and realizes by the movement instruction of cabin controlling system the movement and change of seabed what comes into a driver's
Change；
The data simulation platform is to produce the sensing detecting data on flood dragon manned underwater vehicle acquired in sensor, to carry
People's submersible emulation body cabin controlling system provides the digital environment of an emulation.
2. manned underwater vehicle simulation system according to claim 1, it is characterised in that：The manned underwater vehicle emulates body
Also include operating system, sight logical simulation system, underwater sound communication simulation system and the life branch being connected respectively with cabin controlling system
Simulation system is held, and manned capsule front portion is provided with observation window；
The operating system includes sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；
It is described to see logical simulation system including imaging video monitoring system in lighting apparatus and cabin；
The underwater sound communication simulation system includes underwater sound communication computer in cabin, simulation underwater sound telephone, microphone and audio amplifier；
The life supports simulation system to include oxygen system model, standby oxygen system model, carbon dioxide in cabin and filter out tank
Model, indoor environment monitoring Panel Data, life support display and control panel model and emergency respiratory mask model.
3. manned underwater vehicle simulation system according to claim 2, it is characterised in that：The cabin controlling system includes boat
Row control analog module and comprehensive aobvious control analog module, and the navigation controls analog module, comprehensive aobvious control analog module to pass through
Ethernet is connected with underwater sound communication simulation system, vision emulation system and numeral simulation analysis.
4. the manned underwater vehicle simulation system according to Claims 2 or 3, it is characterised in that：The vision emulation system bag
Include the annular projection post curtain, high-performance computer work station and the graphics acceleration card that are arranged in front of observation window, projection unit and
Electronic chart module to the training region what comes into a driver's of display setting in real time；
The electronic chart module generates and shows sea-bed area coordinate setting data where simulation manned underwater vehicle emulation body
And analog temperature, salinity are produced according to location data, depth, height, cabin controlling system, Gao Xing are sent to low speed degrees of data
Energy computer workstation calls electronic chart module what comes into a driver's information, and is projected to after graphics acceleration card computing by projection unit
Annular projection's post curtain is shown.
5. manned underwater vehicle simulation system according to claim 4, it is characterised in that：Annular projection's post curtain is using half
Footpath is more than 5m 120 degree of seamless spliced post curtains.
6. manned underwater vehicle simulation system according to claim 5, it is characterised in that：The data simulation platform include with
Cabin controlling system connected impeller system digital simulation module, hydraulic system digital simulation module, ballast and trim regulating
Analog module and battery system digital simulation module；The manned underwater vehicle that cabin controlling system receives the transmission of electronic chart module is determined
Position data and according to location data produce analog temperature, salinity, depth, height, to low speed degrees of data；
The impeller system digital simulation module is to receive the flight operations handle controlled quentity controlled variable of manned capsule internal operating system simultaneously
Simulation propeller electric current and feedback data are produced accordingly, while calculating manned underwater vehicle mould according to manned underwater vehicle kinetic model
Intend velocity and acceleration data；
The hydraulic system digital simulation module emulates simulation hydraulic system pressure, the electric current of body to produce manned underwater vehicle
With tank temperature data；
The ballast and trim regulating analog module to produce the simulation ballast of manned underwater vehicle emulation body throw carry instruction with
Front and rear mercury liquid level trim regulating sensing data；The battery system digital simulation module is used to the main storage of simulated diving device system
Battery, secondary battery, the voltage of standby battery and current data.
7. manned underwater vehicle simulation system according to claim 6, it is characterised in that：The data simulation platform also includes
Manned underwater vehicle Mishap Database, the fault message that the Mishap Database is included includes：What time of failure, failure occurred
Variable Conditions, failure are related to the when m- numerical value change and Failure elimination condition of variable list, involved variable.
8. manned underwater vehicle simulation system according to claim 7, it is characterised in that：In the data simulation platform and cabin
Control system realizes data interaction, and interaction content includes：Manned underwater vehicle geodetic coordinates position, manned underwater vehicle posture and motion
Speed, manned underwater vehicle shifting ballast system data, submersible depth, height, CTD data, life-support system data in cabin,
Anticollision sonar data, submersible battery current voltage energy consumption, lash ship position, lash ship movement velocity, submersible are with respect to lash ship position
Put data.
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| CN117706961B (en) * | 2024-02-04 | 2024-05-03 | 青岛哈尔滨工程大学创新发展中心 | Deep sea submersible vehicle mechanical arm control system fault simulation platform |
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