摘要
以小型、经济、易扩展为目标,采用模块化设计思想,开发了一种基于CAN总线的递阶-分布式水下自航行平台控制系统,并重点考虑了安全可靠性,对各节点负载进行了优化分配。实际应用表明,该控制系统结构简单、性能可靠、传输率高,能够满足平台工作环境复杂多变的要求。
Based on miniature, low cost, expandability, using the modular design, the paper presents a CAN based hierarchical and distributed autonomous underwater vehicle (AUV) control architecture. The safety and reliability of the system are adequately taken in account, and the payloads are optimally allocated for the nodes. Applications show that the control architecture is concise and reliable, and it has high communication rate. It is competent for complex and multivariate operational environment of underwater vehicle.
出处
《海洋技术》
2005年第2期9-12,共4页
Ocean Technology
基金
国家863计划资助项目(2001AA632010)
(2004AA639660)
天津大学985学科建设资助项目
