On a cost-effective real-time simulation control system of underwater vehicle

The real-time semi-physical simulation control system for underwater vehicle was introduced. The architecture and operation principle were presented, in which dual computers are employed to ensure real-time control. The real-time simulation software and control law software were developed. The simulation may be performed as long as the parameters of fluid dynamics and structural parameter for the vehicle are input. The simulation testing using variable structure control scheme was performed. The results have indicated that the performance of the system is stable and reliable, and the system has better simulation confidence.