Automatic test system for attitude control system of AUV

Author

Huang Wenling ; Yuan Bincheng ; Zhou Xuchang ; Fang Huajing

Author_Institution

Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China

fYear

2009

fDate

8-11 Aug. 2009

Firstpage

227

Lastpage

231

Abstract

In order to test and assess the performance of the attitude control system for an autonomous underwater vehicle (AUV) in real time, a test system of semi-physical simulation is designed, based on a test platform with VXI bus. Through a program-controlled rotary estrade, program controlled pressure devices, equivalent functional simulating subsystems, some real-time signals are generated accurately, such as the attitudes, velocity and depth of AUV, target angle and trajectory commands. The outputs of the attitude control system are measured in real time so as to find out the control performances of the AUV. The composition principle and simulation-based test scheme of the test system are expatiated. Test and application show that the test system is highly precise and reliable.

Keywords

attitude control; automatic testing; underwater vehicles; AUV; VXI bus; attitude control system; automatic test system; autonomous underwater vehicle; equivalent functional simulating subsystem; program controlled pressure devices; semiphysical simulation; simulation-based test scheme; Attitude control; Automatic testing; Control systems; Pressure control; Real time systems; Signal generators; System testing; Trajectory; Underwater vehicles; Velocity control; attitude control system; automatic test; autonomous underwater vehicle (AUV); simulation test;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Technology, 2009. ICCSIT 2009. 2nd IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-4519-6

Electronic_ISBN

978-1-4244-4520-2

Type

conf

DOI

10.1109/ICCSIT.2009.5234960

Filename

5234960