Hardware-in-loop simulation of underwater heat-engine system

Hardware-in-loop simulation (HIL) of underwater heat-engine system is more believable than a mathematic simulator. In-depth presentations of a backpressure simulation device, a load pressure simulation device and a rotating rate controller are given which make up of the HIL of underwater heat-engine system. Section 1 of the full paper establishes and analyzes the mathematical model for such a HIL system. Section 2 synthesizes the closed loop control law of backpressure; the most important result in the mathematical derivation is eq. (13). Section 3 establishes control algorithm of load pressure simulation device as shown in eq. (16). And the dynamic characteristics of the system is modified in section 4. To verify the control law, a HIL experiment on the propulsion system is carried out. Fig. 3 in section 5 gives the experimental results. Initial evaluation indicates that the dynamic simulation precision of both the load pressure and rotating controller achieve 1.5%, and backpressure achieves 0.5%. The study provides a necessary theoretical basis for further study of the dynamic control problem for underwater heat-engine system.