Design of Semi Physical Motion Simulation System of Underwater Vehicle

Semi physical motion simulation system of underwater vehicle was established by combining physical simulation of control layer with virtual simulation of sensory and executive layer. Not only the software logic but also the hardware architecture, information interface and reliability could be verified with the semi physical motion simulation system. The hardware and software architecture of the simulation system were explained in detail. The virtual simulation of hydrodynamics, motion sensors and physical simulation of control layer were described. Finally, the long distance motion simulation and obstacle avoidance simulation tests were conducted to demonstrate the importance of the system for the success of sea experiments.