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Simulation environment for the design and test of the distributed controller for an autonomous underwater vehicle

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5 Author(s)
Gao Jian ; College of Marine Engineering, Northwestern Polytechnical University, Xi'an, China ; Ningning Zhao ; Weisheng Yan ; Demin Xu
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The real-time simulation environment is developed for the design and test of the distributed controller for the TESTBED autonomous underwater vehicle. The vehicle dynamics is real-timely simulated in an industrial control computer and all the motion sensors and actuators external to the distributed controller is modeled with proper interfaces, allowing complete pseudo-mission simulation and analysis in the lab environment. This environment is proved to be an effective tool that supports rapid diagnosis and correction of system faults.

Published in:

2009 4th IEEE Conference on Industrial Electronics and Applications

Date of Conference:

25-27 May 2009