基于CAN总线的自主水下航行器分布式控制系统设计

Distributed Control System of Autonomous Underwater Vehicle Based on CAN-Bus

摘要:

提出一种基于CAN总线的分布式控制系统设计方案,该总线主要搭载任务控制系统、导航控制系统、运动控制系统、安保系统四个节点。将自主水下航行器的功能分布到不同的控制节点,具有较好的体系结构,且便于维护与升级。不同于集中式控制系统,当系统内需增加其他功能模块时,无需修改硬件部分可直接接入控制系统,便于控制具有很好的实时性与可扩展性。最后通过湖试结果显示,自主水下航行器航行稳定,分布式控制系统运行良好,验证了该设计的可靠性与有效性。

Abstract:

A project design of distributed control system on CAN-Bus is proposed. The CAN bus mainly carries four nodes that contain mission control system, navigation control system, motion control system, security guarantee control system. The functions of AUV are distributed to different control node, which has a favorable architecture and a convenience for maintenance and upgrade. Differently from concentrated control system, the distributed control system can be easily connected with other control system without changing its hardware when other function modules need to be added, therefore it has an excellent performance of real-time and extending. Finally, the result of lake trial manifests that the AUV maneuvers steady and the distributed control system runs well, which verifies the reliability and verification of this design.