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1、分類號密級Y930368學(xué)校代號：!Q§!!學(xué)號：Q3§盟QQ墅西北工業(yè)大學(xué)碩士學(xué)位論文(學(xué)位研究生)作者：趙主主學(xué)科專業(yè)：武墨丕筮皇運(yùn)廈王程指導(dǎo)教師：直童縫西北工業(yè)大學(xué)西安二零零六年三月兩北工業(yè)大學(xué)碩士學(xué)位論文ABsTRAcTABSTRACTAnautorlomousunderwaterVehicIe(AUV)isanunmanrled，untethered，undenvatervehiclethatc戤吶esitsownpowersourceandreliesonanon-boardcompute
2、randbuild-inmachineintelligencetoexecuteamissionconsistingofaseriesofpreprograIllmedinsnuctions．ThemOdemAUVsarelong·mnge，intelligent，hardtobediscovered，varymarleuvera_ble，andcostefrective，andhasbroadpotential印plicationisbotht11ecoImercialarldmili協(xié)ryfiel
3、ds．Inordertoensllrecompletereliabili魄AUVsoftw甜eandhardwareneedtobefullytestedinthelaboratorybeforeoperationaldcployment．TheHardware—In_the—Loopsimula垃on(HILS)approachincludessome1eVelofsystem’shard、愀alldso凡vareplaysmoreimportantr01einthedevelopmentofanA
4、UVThemostlyworkofmethesisissW吼arizedasfollows：(1)TheadaptivePID(APID)controlisstudiedfortheAUVcontr01．Thecontmlsystemmustbead印tiVetot11euncenainparameterst0overcomethemodeIingerror，uncertaintyof山ehydrodynanlicpar鋤etersand蛐ownwaredisturbances．Introducing
5、meadaptiVemethodtothecl嬲sicPIDcontrol，theAPIDinheritsthesimplicilyandpractical姆ofPID，andsatis＆stllefequirementofadaptabilityforAUVcontr01．(2)0ntheneedoftheHILSexperiInentofanAuVthemathematicnonlinearmodelofAUVisweUstIldied，a11dthecorreSpondingsimlllatio
6、nmodel、ⅣimmeintegrationalgorithmandsteplengthisdeVelopedwith‘C’language．(3)TheHILSsys把misdevelopedandtested嘶tlltheAD／RTSreal．timesimulatofasthecenterofthesystem，includingt11edevelopmentAUVsimulationso疊warewithAdvantageIDE，the行equencych怠racteristicsmeasu
7、rememsofmerotate—table．Theemphasisisputont王lestudiesofthereflectivememorynetworkasmeHILSreal．timeco衄unicationnetwork．(4)TheAUVHILSexperimentisintroduced．1kexperimentincludcst11etestingofdepthsensor，staticanddynamictestingofgyro—compassandtlleclosedloops
8、imulationofthecontrolatldguidancesystem．Witll山esimulationdata，meperfom姐ceofcontrolandguidancesystemis柚alyzed，andthetr面ectoriesareplotted．BasedontheAUVHILSexpemnent，tllereal-timeanalysisofmisHILS11西北?！緲I(yè)火學(xué)碩十學(xué)位論文ABsTRAcTsystcmiscarr
