嵌入式硬件在环UUV模拟器的设计及实现

Design and Implementation of Embedded Hardware-in-the-loop UUV Simulator

摘要:

针对 UUV 对高逼真仿真的需求,设计了嵌入式硬件在环 UUV 模拟器。 选用 XMC4800 作为模拟器的主控芯片,设计了最小系统电路和通信接口电路。 给出了数据流图和主要软件算法,包含任务调度算法、任务优先级设计、UUV 模型选择、干扰模型选择和 CAN 应用层协议设计。 模拟器具有多种工作模式, 可以根据不同的应用场景,完成相应的硬件在环仿真,对 UUV 的研制、生产和使用具有一定的参考价值。

Abstract:

Aiming at the requirement of high fidelity simulation for UUV, an embedded Hardware-in-the-loop UUV simula- tor is designed. The XMC4800 is selected as the main control chip. The minimum system and communication interface circuit are designed. The data flow graph and the main software algorithms are given, including task scheduling algorithm, task priority de- sign, UUV model selection, disturbance model selection and CAN application layer protocol design. The simulator has a variety of working modes. It completes the corresponding Hardware-in-the-loop simulation according to different application scenarios. The simulator has certain reference value for the development, production and use of UUV.