基于CANopen协议的水下机器人控制系统设计

AUV Control System Design Based on CANopen Protocol

摘要:

为了提高AUV控制系统的可靠性、灵活性,采用分布式网络代替之前的集中式网络;并通过CAN和CANopen协议搭建分布式网络,主节点采用ARM-Linux,从节点采用AVR-μCOS；分别针对主从节点进行设计和优化,并给出了具体的实现方法,最后对CAN网络进行了优化；最终提高了AUV的控制系统设计的灵活性,同时提高了可靠性和实时性。

Abstract:

In order to improve the reliability and flexibility of the SAUV(Small Autonomous Underwater Vehicle) control system, distributed instead of centralized control system structure is used. This system is designed according to CAN and CANopen protocol, and the master node is based on ARM-Linux, slave node based on AVR-μCOS. To build this system, both master and slave nodes are designed and optimized respectively, then the implementation is given and CAN network is optimized. Finally the flexibility of the AUV control system is improved and also the reliability, performance of real-time.