基于Windows XPE的水下航行器航行操纵系统多任务软件设计

Multi-task Software Design of Windows XPE -based Navigation Steering System for Underwater Vehicle

摘要:

航行操纵系统是水下航行器控制系统的重要组成部分;为了保证航行操纵系统的实时性与可靠性,鉴于其硬件板卡驱动支持Windows平台,故软件采用了一种基于Windows XPE实时嵌入式系统的设计方法,根据操纵要求对航行操纵系统实时多任务进行了划分,诸如手柄信息处理任务、自动控制任务和网络通信任务等,介绍了多任务执行实体—线程(thread)的优先级的设置和线程同步工具的选取,并分析了Windows的多线程调度策略,然后详细阐述了航行操纵系统各任务的执行流程以及实现方法;最后,对航行操纵系统进行了实验室仿真测试,结果表明该系统实时性和控制精度达到了设计要求,操纵系统性能良好。

Abstract:

The navigation steering system is a vital component of control system for underwater vehicle. To ensure the instantaneity and reliability of navigation steering system for underwater vehicle, seeing that some hardware-driver of navigation steering system for underwater vehicle under Windows platform, a software design approach based on Windows XPE is adopted. a detailed classification of multi-tasking system is elaborated emphatically according to the control requirements, such as disposing joystick information task, automatic control task and network communication task etc., the setting of threads’ priority and the choice of threads’ synchronization tool are introduced, an analysis of Windows’ schedule strategy has executed, then the exposition on programming flow and implement methods is carried out. Finally, the simulation-test results in Lab show that the instantaneity and control accuracy of this system can meet the design requirements, and control system performance is good.