【摘要】 在以VAXlab计算机为主机的小型通用动力学半实物仿真系统上对某型水下航行器的运动进行了半实物仿真。给出了半实物仿真系统的基本组成和工作原理，讨论了水下航行器运动的仿真模型和实时积分算法。结果表明，该仿真系统结构合理，精度高，可靠性好，所采用的控制方案可使其满足使用要求，达到了预期的目的。更多还原

【Abstract】 Semi-physical real-time simulation of an control scheme for an underwater vehicle was made on a small and universal semi-physical dynamics simulation system. The basic organization and simulation principle of the system are presented,and the simulation model for the underwater vehicle and real-time integer algorithm are discussed. The results show that the simulation system is reasonable ,reliable and being of high precision,and the shallow water control scheme for the underwater vehicle can also completely satisfy the requirements for the inshore use.更多还原