CAJ | 학술논문

基于Visual C++，Vega Prime，Multigen Creator和Matlab对子母型自治水下航行器（Autonomous Underwater Vehicle，AUV）回收控制视景仿真系统进行了开发研究。通过建立子/母AUV的动力学方程，给出了一种基于主-从运动状态同步思想的母AUV自主回收子AUV的控制方案。依据该方案，利用Multigen Creator创建了子/母AUV的实体模型，并由Vega Prime导入模型进行场景配置，以Matlab作为后台对子/母AUV的动力学方程进行实时计算，然后，采用Visual C++平台进行综合集成，得到子母型AUV回收控制视景仿真系统，并通过实例演示进行了验证。
기우Visual C++，Vega Prime，Multigen Creator화Matlab대자모형자치수하항행기（Autonomous Underwater Vehicle，AUV）회수공제시경방진계통진행료개발연구。통과건립자/모AUV적동역학방정，급출료일충기우주-종운동상태동보사상적모AUV자주회수자AUV적공제방안。의거해방안，이용Multigen Creator창건료자/모AUV적실체모형，병유Vega Prime도입모형진행장경배치，이Matlab작위후태대자/모AUV적동역학방정진행실시계산，연후，채용Visual C++평태진행종합집성，득도자모형AUV회수공제시경방진계통，병통과실례연시진행료험증。
The visual simulation system for the recovery control of parent-child autonomous underwater vehicles (AUV)is studied based on visual C++,vega prime,multigen creator and matlab. First,the dynamical equation of both the parent AUV and the child AUV are given,and then a control scheme for the parent AUV recovering the child AUV is established with the idea of master-slave motional states synchronization. Based on this scheme,the physical models of both parent AUV and child AUV are built and read by Vega Prime such that the simulation scene is deployed,the matlab is used as a back calculator for the dynamical equations of parent AUV and child AUV,then,the vega prime and matlab are integrated by visual C++ such that the whole visual simulation system for the recovery control of parent-child AUV is obtained. The validity of the simulation system is verified by example demonstration.