This document shows the methodology of simulation based on the technique Hardware-In-the-loop for the design and testing of a dynamic system that represents a robot aquatic type AUV controlled by an embedded system. The stages for the development and implementation of the project involve the...

This document shows the methodology of simulation based on the technique Hardware-In-the-loop for the design and testing of a dynamic system that represents a robot aquatic type AUV controlled by an embedded system. The stages for the development and implementation of the project involve the mathematical model of the system, the analysis of the natural response of the system compared to external forces, the design parameters of the controller and the HIL simulation HIL. Performing this type of simulations by means of the hardware in the loop allows the detection of errors and problems in the design of the robot, which allows you to adjust the mechanical structure and the electronics embedded. In addition, the technique allows to validate that the embedded system has right implemented response times for the best robot model when in reality it is a simulated model in real time, thus enables the verification of the sensors with responses consistent with the actual model. © Research India Publications

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