de Cerqueira Gava Pedro Daniel, Nascimento Júnior Cairo Lúcio, Belchior de França Silva Juan Ramón, Adabo Geraldo José
Division of Electronic Engineering, Instituto Tecnológico de Aeronáutica, São José dos Campos 12228-900, SP, Brazil.
Sensors (Basel). 2022 Apr 24;22(9):3255. doi: 10.3390/s22093255.
This article presents an Unmanned Underwater Vehicle simulator named Simu2VITA, which was designed to be rapid to set up, easy to use, and simple to modify the vehicle's parameters. Simulation of the vehicle dynamics is divided into three main Modules: the Actuator Module, the Allocation Module and the Dynamics Model. The Actuator Module is responsible for the simulation of actuators such as propellers and fins, the Allocation Module translates the action of the actuators into forces and torques acting on the vehicle and the Dynamics Module implements the dynamics equations of the vehicle. Simu2VITA implements the dynamics of the actuators and of the rigid body of the vehicle using the MATLAB/Simulink framework. To show the usefulness of the Simu2VITA simulator, simulation results are presented for an unmanned underwater vehicle navigating inside a fully flooded tunnel and then compared with sensor data collected when the real vehicle performed the same mission using the controllers designed employing the simulator.
本文介绍了一款名为Simu2VITA的无人水下航行器模拟器，其设计目的是便于快速搭建、易于使用且能轻松修改航行器参数。航行器动力学仿真分为三个主要模块：执行器模块、分配模块和动力学模型。执行器模块负责对螺旋桨和鳍等执行器进行仿真，分配模块将执行器的动作转化为作用于航行器的力和扭矩，而动力学模块则实现航行器的动力学方程。Simu2VITA使用MATLAB/Simulink框架实现执行器和航行器刚体的动力学。为展示Simu2VITA模拟器的实用性，给出了无人水下航行器在完全淹没的隧道内航行的仿真结果，并与真实航行器使用基于该模拟器设计的控制器执行相同任务时收集的传感器数据进行了比较。
