Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D

doi:10.16182/j.issn1004731x.joss.18-0845

Abstract

Abstract: In order to provide a simulation and test platform for the performance test, control algorithm analysis and operation training of underwater robot, a hardware-in-the-loop simulation system based on Unity3D is developed, which consists of a ground control terminal, a robot body and a three-dimensional simulation system. The system uses the same ground control terminal as the unified command input source of the three-dimensional simulation system and robot control system, and realizes the synchronization of the virtual object and robot body, real-time monitoring and parameters adjustment to the system. The position of the robot is collected by multiocular vision technology, and Kalman filtering processing is carried out on sensor data. The robot motion simulation results show that the actual motion path of the robot is basically the same as the simulation planning path, and the hardware-in-the-loop simulation system has good dynamic response and control system synchronization.

Key words: hardware-in-the-loop simulation, Unity3D, control system, ROV, real-time interactive

CLC Number:

TP391.9

Ren Fushen, Sun Yaqi, Hu Qing, Li Zhaoliang, Sun Pengyu, Fan Yukun. Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D[J]. Journal of System Simulation, 2020, 32(8): 1546-1555.

References 11

[1]	Bogue R.Underwater robots: a review of technologies and applications[J]. Ind Robot (S0143-991X), 2015, 42(3): 186-191.
[2]	Talian P, Perduková D, Fedor P.Universal HIL Test Platform for Mechatronic Systems[C]. International Conference Mechatronics. Berlin: Springer, 2017: 338-346.
[3]	凌家良. 基于OpenGL的工业机器人运动仿真软件的设计与实现[D]. 长沙: 中南大学, 2009.Ling Jialiang.The Design and Implementation of Industrial Robot Simulation System based on OpenGL[D]. Changsha: Dissertation Submitted to Central South University, 2009.
[4]	张冀川, 徐家斌, 童亦斌, 等. 基于RT-LAB的MMC半实物仿真平台设计[J]. 电力电子技术, 2016, 50(3): 26-28.Zhang Jichuan, Xu Jiabin, Tong Yibin, et al.Design of Rapid Control Prototype Platform for MMC Based on RT-LAB[J]. Power Electronics, 2016, 50(3): 26-28.
[5]	邢瑞毅, 马世伟, 钟建鹏. 基于Simulink的水下无人机器人建模与仿真[J]. 系统仿真技术, 2018, 14(2): 109-112, 135.Xing Ruiyi, Ma Shiwei, Zhong Jianpeng.Modeling and Simulation of Remote Operated Vehicle Based on Simulink[J]. System Simulation Technology, 2018, 14(2): 109-112, 135.
[6]	甘永, 毛宇峰, 万磊, 等. 水下机器人半实物运动仿真系统的设计[J]. 系统仿真学报, 2006, 18(7): 2026-2029.Gan Yong, Mao Yufeng, Wan Lei, et al.Design of Semi Physical Motion Simulation System of Underwater Vehicle[J]. Journal of System Simulation, 2006, 18(7): 2026-2029.
[7]	Pérez J, Sales J, Peñalver A, et al.Robotic Manipulation Within the Underwater Mission Planning Context[M]. Berlin: Springer International Publishing, 2015: 595-612.
[8]	Bazzano F, Gentilini F, Lamberti F, et al.Immersive Virtual Reality-Based Simulation to Support the Design of Natural Human-Robot Interfaces for Service Robotic Applications[C]. International Conference on Augmented Reality, Virtual Reality and Computer Graphics. Berlin: Springer International Publishing, 2016: 33-51.
[9]	吴家鸣, 郁苗, 朱琳琳. 带缆遥控水下机器人水动力数学模型及其回转运动分析[J]. 船舶力学, 2011, 15(8): 827-836.Wu Jiaming, Yu Miao, Zhu Linlin.A hydrodynamic model for a dynamic analysis of the tethered underwater robot and robot in turning motion[J]. Journal of Ship Mechanics, 2011, 15(8): 827-836.
[10]	张洪龙, 陈涛, 庄培钦, 等. 基于立体视觉的水下三维测量系统研究[J]. 集成技术, 2018, 7(3): 1-14.Zhang Honglong, Chen Tao, Zhuang Peiqin, et al.A Binocular Stereo Vision System for Underwater 3D Measurement[J]. Journal of Integration Technology, 2018, 7(3): 1-14.
[11]	崔培林, 周翟和, 吕品, 等. 自适应误差四元数无迹卡尔曼滤波四旋翼飞行器姿态解算方法[J]. 西安交通大学学报, 2019, 53(3): 97-102,110.Cui Peilin, Zhou Zhaihe, Lü Pin, et al.Adaptive Error Quaternion Unscented Kalman Filter Algorithm for Quadrotor Attitude Calculation[J]. Journal of Xi'an Jiaotong University, 2019, 53(3): 97-102,110.

[1]	Qi Chen, Haoyang Cui. Visual inspection model of UAV cluster based on improved pigeon flock hierarchy [J]. Journal of System Simulation, 2022, 34(6): 1275-1285.
[2]	Cheng Lu, Xuesheng Jin. Design of Interactive Simulated Water Gun Fire Fighting Training System Based on Steam VR [J]. Journal of System Simulation, 2022, 34(6): 1312-1319.
[3]	Zhaoqiang Li, Shiyu Zhang. Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm [J]. Journal of System Simulation, 2022, 34(3): 503-511.
[4]	Zi'an Zhao, Hong Zhou, Yingjian Lei. Modeling and Optimization for Manufacturing Cell Scheduling Based on Improved Wolf Pack Algorithm and Simulation [J]. Journal of System Simulation, 2022, 34(2): 201-211.
[5]	Shao Liangshan, Wang Zhen, Li Changming. Optimization Algorithm of Mine Ventilation Based on SA-IPSO [J]. Journal of System Simulation, 2021, 33(9): 2085-2094.
[6]	Luo Zhangzhen, Jiang Haifan, Fu Jianlin, Ding Guofu. Combination Weighting-based Comprehensive Evaluation for Discrete Workshop Production Plan [J]. Journal of System Simulation, 2021, 33(8): 1856-1865.
[7]	Lu BaiHong, Zhao Jianjun, Liu Gesan. The Research and Implementation of Film Virtual Photography Harware-in-the-loop Simulation [J]. Journal of System Simulation, 2021, 33(8): 1938-1946.
[8]	Hou Shouming, Ge Qian, Liu Yanyan. Research on Digital Protection System of Intangible Cultural Heritage Based on Mobile Augmented Reality Technology [J]. Journal of System Simulation, 2021, 33(6): 1334-1341.
[9]	Li Cheng'en, Zou Xiangjun, Zeng Zeqin, He Jianhua, Li Hui, Huang Zhaofeng. Mesh Solid Construction Algorithm of Spiral Bevel Gear Based on Virtual Collision Body [J]. Journal of System Simulation, 2021, 33(4): 837-844.
[10]	Wang Zhendong, Xie Huamao, Hu Zhongdong, Li Dahai, Wang Junling. Improved Flower Pollination Algorithm Based Deployment Optimization of Wireless Sensor Network [J]. Journal of System Simulation, 2021, 33(3): 645-656.
[11]	Wang Yinsong, Wang Kai. Performance Evaluation Method for Load Control System Considering “Two Detailed Rules” [J]. Journal of System Simulation, 2021, 33(3): 710-720.
[12]	Jia Lishan, Li Ang. Flight Simulation Modeling Method Based on Improved Euler Angle Formula [J]. Journal of System Simulation, 2021, 33(2): 339-345.
[13]	Li Fei, Su Zhong. Intelligent Control of Wastewater Treatment Processes Based on Adaptive Immune Optimization [J]. Journal of System Simulation, 2021, 33(12): 3012-3020.
[14]	Hu Xiaoman, Wang Yan, Ji Zhicheng. Fuzzy Information Granulation and Improved RVM for Rolling Bearing Life Prediction [J]. Journal of System Simulation, 2021, 33(11): 2561-2571.
[15]	Cao Zhenqian, Yin Jiang, Zhang Jinhua. Identification of Main Steam Temperature System Based on Improved Particle Swarm Optimization [J]. Journal of System Simulation, 2021, 33(10): 2411-2419.