【作者】 朱立国；

【导师】 王景刚； 苏中滨；

【作者基本信息】 哈尔滨工程大学 ， 控制工程， 2011， 硕士

【摘要】 随着科技的进步,越来越多的航行训练模拟器被开发应用到航海、航天等领域。潜艇航行训练模拟器是以潜艇运动仿真模型为依据,结合舰船操纵的具体过程,利用计算机系统仿真技术,模拟再现舰船在不同海域、海况下,车、舵、水、气或者舵卡等其它应急操纵的使用。因为利用航行训练模拟器的进行操纵训练与实船训练相比,有着效率高、费用低、损耗小和安全系数高的优点。通过航行训练模拟器的操纵训练,能大大提高操船人员对各种设备的熟悉度,增强操船人员面对海上环境的应变能力和事故处理能力。航行训练模拟器管理台能够集中对航行训练模拟器的各种分设备进行测试,统一协调控制多个模拟器分设备的运行,确保航行训练模拟器能够准确地模拟潜艇正常操作。本文以航行训练模拟器管理台为研究对象,对其进行设计与实现,并对潜艇模型的建立及解算技术进行了研究,论文主要工作有：通过对潜艇操纵性技术与系统仿真技术的研究,结合工程实际,合理地提出了潜艇航行训练模拟器管理台的系统方案。建立了系统的体系结构、与航行训练模拟器管理台其他设备交互的信息流结构、系统模型结构、系统软件结构,并以VC++和Matlab混合编程方式实现了其中的各个功能模块。系统地提出了潜艇模型解算的方法。首先根据常微分方程的一般形式,将潜艇空间操纵运动标准模型转换为便于解算的形式,简化了潜艇六自由度运动方程,并且对潜艇空间运动数学模型进行了仿真。根据大纲的要求,结合软件工程的有关技术,设计了潜艇航行训练模拟器管理台,并且对网络通信模块、历史记录回放等技术进行了研究。采用了UDP通信协议,利用socket实现了网络通信。最后本文在对基本软件测试方法研究的基础上,综合各种测试方法并结合本系统的特点,提出本系统的测试方法：按照单元测试、集成测试、系统测试这三个步骤,结合白盒测试、黑盒测试和性能测试能方法,分别对潜艇航行训练模拟器管理台各个单元模块进行测试,验证了潜艇航行训练模拟器管理台能够满足系统要求。更多还原

【Abstract】 With the progress of science and technology, more and more navigational training simulator is developed and used for sailing, space, etc. Submarine voyage training simulator is based on submarine movement simulation model, which combined with the ships of the manipulation of the specific process and the use of the computer system simulation technology, and simulate the use of the ships which can reproduce the rough seas, rudder, water, gas or rudder card and the other emergency control in different waters. As compared with the real training, the voyage training simulator has the high efficiency, low cost, small loss and high safety coefficient advantages.Navigational training simulator management platform is used to train personnel of submarine manipulate basic device, which ensure navigational training simulator can accurate simulation of the normal operation of submarine. Based on the navigational training simulator management platform as research object, the paper design and realize submarine manipulate dynamics simulation unit. Through researching the characteristics of submarine manipulate dynamics simulation unit with project situations, the system scheme of the unit is reasonably advanced in this paper. The system structure, the structure of infonnation flow exchanging with the outside devices of navigational training simulator test platform, the system model structure, the software structure are also built, the functional modules are achieved by VC++ and MATLAB mixing programming.The relatively rounded model calculation necessary to simulate motion of submarine are presented in this paper. By the study of ordinary differential equation for calculating methods and real-time simulation system simulation algorithm, the paper converts submarine space six degrees of freedom movement equation to submarine simulation execution equation, and the submarine spatial movement mathematical model is simulated.According to the program’s request combined with the relevant technology of software engineering, the navigation training simulator management platform is designed, and network communication module, historical records and playback technology is also studied. The network communication is realized by adopting UDP communication protocol and using socket.Finally, this paper introduces the system test method. Based on the research of the basic software, according to the unit test, integrate testing, system testing, these three steps, combining with box testing, block box testing and performance testing method respectively. This paper tests every modules of navigational training simulator management platform. And it is proved that the navigational training simulator management platform can satisfy the system requirements.更多还原