This paper introduces the frame and function of underwater vehicle control and guidance hardware-in-the-loop simulation system in detail, which actor as the test flat, through.
本文对水下航行器制导控制半实物仿真系统的结构和功能作了详细介绍，并以此半实物仿真系统为试验平台，通过试验对实时调度算法进行应用和验证。
The complex and uncertain driver model was omitted and human driving behaviour was embedded as a part of the simulation system during the process of hardware in-loop simulation test.
该系统在硬件在环仿真研究过程中省去复杂不确定的驾驶员模型，直接把人的驾驶行为作为仿真的一部分嵌入仿真过程。
The functions validation and debugging of powertrain control system are conducted by hardware-in-the-loop test and the real vehicle performance test is done on road.
动力总成控制系统在硬件在环测试中进行了功能验证和调试，在实际路面上进行了实车功能和性能试验。
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