The paper presents the design of a hardware in loop (HIL) simulator for the vertical motion of an autonomous underwater vehicle (AUV) operating under identical vertical thrusters. The thruster mathematical modelling along with the dynamic model of the AUV for its vertical motion is presented. The HIL simulates ocean currents of different speeds and direction at different depth ranges which displays how the AUV drifts from its initial dive position. A Graphical User Interface for the hardware in loop simulator is built on C# which provides various controls over the simulator like modifying the water currents, its initial dive location, maximum diving depth. The GUI is given a serial input (control voltage) which simulates the thruster and the two serial outputs- depth and altitude (or pressure at the depth) are used to study the behavior and motion of the AUV in the vertical direction, whereas the simulated ocean currents helps us to monitor the motion of the AUV in the horizontal direction.
Inhaltsverzeichnis (Table of Contents)
- I. INTRODUCTION
- II. PHYSICS MODEL ESTIMATION
- A. Non Linear Model Estimation
- III. HILS CONTROL PARAMETERS
- A. Water Currents
- B. Initial Dive Location
- C. Conversion of Geodetic to ECEF coordinate system
- D. Maximum Dive Depth
- IV. AUV HILS GRAPHICAL USER INTERFACE
- A. Start HIL and Stop HIL
- B. Pause and Unpause HIL
- C. Start Log and Stop Log
- D. Config File
- E. Clear Data
- F. Show Receive
- G. Simulation Info
- H. Log Textbox
- I. COM Port and Baud Rate
- J. AUV Motion Charts
- V. CONCLUSION AND FUTURE WORK
Zielsetzung und Themenschwerpunkte (Objectives and Key Themes)
The paper presents the design of a hardware in loop (HIL) simulator for the vertical motion of an autonomous underwater vehicle (AUV) operating under identical vertical thrusters. The HIL simulates ocean currents of different speeds and directions at different depth ranges which displays how the AUV drifts from its initial dive position. A Graphical User Interface for the hardware in loop simulator is built on C# which provides various controls over the simulator like modifying the water currents, its initial dive location, maximum diving depth.
- Design and implementation of a hardware-in-loop (HIL) simulator for an AUV's vertical motion.
- Modeling of the AUV's dynamic behavior under various forces, including gravity, drag, buoyancy, and thrust.
- Simulation of ocean currents and their impact on the AUV's horizontal movement.
- Development of a user-friendly graphical interface for controlling and monitoring the simulator.
- Testing and evaluation of the AUV's control system in a simulated environment.
Zusammenfassung der Kapitel (Chapter Summaries)
The paper starts by introducing the concept of hardware-in-loop simulation and its application in the development and testing of autonomous underwater vehicles (AUVs). It then focuses on modeling the vertical motion of the AUV, considering forces such as drag, thrust, and hydrostatic force. The paper presents a mathematical model for the thruster and derives a non-linear dynamic model for the AUV's vertical motion. The simulation of ocean currents is discussed, explaining how they affect the AUV's horizontal movement.
The paper further details the control parameters of the HIL simulator, including water currents, initial dive location, and maximum dive depth. It then describes the graphical user interface (GUI) of the HIL simulator, highlighting its features such as controlling the simulator, logging data, and visualizing the AUV's motion. The paper concludes with a summary of the developed HIL simulator and outlines future work, focusing on implementing an altitude or depth control system and adding horizontal thruster control to the AUV.
Schlüsselwörter (Keywords)
The paper focuses on the design and development of a hardware-in-loop (HIL) simulator for the vertical motion of an autonomous underwater vehicle (AUV). The key concepts include dynamic modeling, thrust force, ocean currents, control parameters, graphical user interface, and simulation.
- Citation du texte
- Prateek Murgai (Auteur), 2014, Design of a Hardware in Loop Simulator for Vertical Motion of an Autonomous Underwater Vehicle Under Simulated Ocean Currents, Munich, GRIN Verlag, https://www.grin.com/document/282862
