Design and implementation of Manned Submersible semi physical simulation system

In order to improve the safety factors of MSV (Manned Submersible Vehicle) and shorten the pilot training cycle, the real hardware and software system combine with the modelling and simulation calculation of its sensors, equipment, actuators submersible ontology and motion status in deep sea environment, realizing the semi physical simulation system. First of all, the system model is built and hardware structure is introduced; then the model calculation software structure is studied, mainly focusing on the motion data simulation; finally open-loop motion data, close-loop motion data, all virtual devices and their network data transmission delay time are estimated. The conclusions that the MSV's semi physical simulation system network performance is better than Jiaolong's and the motion data is favourable are got, realizing the simulation of sensors, equipment, actuators and three-dimensional motion data. This lays foundation for improvement of MSV's safety factors and contraction of pilot training period.