针对UUV的集成设计问题，建立基于Links-RT的半实物仿真平台体系框架，包含多学科耦合分析子系统和实时仿真验证子系统。其中，多学科耦合分析部分基于M-Works多学科建模平台，建立UUV系统Modelica模型库，包含考虑洋流干扰的UUV水动力模型、能源动力模型、控制模型等部分；实时仿真验证部分采用Links-RT实时仿真机+实物控制器的方式，将多学科耦合分析子系统中生成的实时仿真模型加载运行，验证模型与控制算法的有效性。同时使用实时仿真数据，驱动实物三轴转台和三维虚拟运行场景，提高系统的可视化效果。实验结果表明，该系统可以为UUV的性能分析和综合控制问题，提供高效可靠的半实物仿真研究平台。
In addressing the integrated design issues of Unmanned Underwater Vehicles (UUVs), a semi-physical simulation platform framework based on Links-RT has been established, which comprises a multidisciplinary coupling analysis subsystem and a real-time simulation validation subsystem. The multidisciplinary coupling analysis section is built on the M-Works multidisciplinary modeling platform, creating a Modelica model library for UUV systems that includes hydrodynamic models, energy power models, and control models that take into account ocean current interference. The real-time simulation validation section utilizes a Links-RT real-time simulation machine paired with a physical controller to load and operate the real-time simulation models generated by the multidisciplinary coupling analysis subsystem, thereby validating the effectiveness of the models and control algorithms. Furthermore, real-time simulation data is employed to drive a physical three-axis turntable and a three-dimensional virtual operating scene, enhancing the system's visualization capabilities. Experimental results indicate that this system can provide an efficient and reliable semi-physical simulation research platform for the performance analysis and integrated control issues of UUVs.
2026,48(6): 39-44 收稿日期：2025-8-8
DOI：10.3404/j.issn.1672-7649.2026.06.006
分类号：U674.941
基金项目：国家自然科学基金资助项目（62573203）
作者简介：陈子君(2003-),男,硕士研究生,研究方向为船舶与海洋工程
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