基于CANopen协议的水下航行器控制系统现场总线应用设计

Application of CANopen Protocol in Networked Control System of Universal Underwater Vehicle

摘要:

分析了CAN现场总线技术及特点，针对某高速水下航行器控制系统数据交换实时性需求，结合当前采用的“自定义CAN高层协议”存在的问题，从解决系统稳定性，降低人为干扰因素，提高可靠性及后续网络扩展等方面考虑，提出一种基于CANopen标准高层协议的水下航行器控制系统网络架构，研究了控制系统网络结构及特点，描述了主要网络节点的功能及任务，建立了CANopen通信模型，制订了CANopen高层通讯协议，在项目研制中应用实践，开展了系统性对比测试，实施了全航行器系统、满负荷水下实航试验，结果表明CANopen控制网络运行快捷、稳定可靠，数据交换流畅，网络负载率仅为21.9%，明显优于国际现场总线网络协会要求，适合推广应用至UUV等多种水下航行器系统。

Abstract:

This paper analyzes the technology and characteristics of CAN field bus, aiming at the real-time data exchange requirements of a high-speed underwater vehicle control system, and considering the problems existing in the current "user-defined CAN high-level protocol", a network architecture of underwater vehicle control system based on CANopen standard high-level protocol is proposed from the aspects of solving system stability, reducing human interference factors, improving reliability and subsequent network expansion, The network structure and characteristics of the control system are studied, the functions and tasks of the main network nodes are described, the CANopen communication model is established, the CANopen high-level communication protocol is formulated, the application practice in the project development is carried out, the systematic comparison test is carried out, and the full load underwater flight test is implemented. The results show that the CANopen control network is fast, stable and reliable, smooth data exchange and the network load rate is only 21.9%, It is obviously superior to the requirements of the International Fieldbus Network Association, and is suitable for promotion and application to UUV and other underwater vehicle systems.