CAN总线在波动仿生推进器中的应用

The Application of CAN Bus in the Undulated Biomimetic Thruster

波动仿生推进器是一种依据鱼类仿生学原理设计的新型水下推进器。控制器局域网(ControllerAreaNetwork,即CAN总线)是一种能有效地支持具有很高安全等级的分布实时控制的串行通信协议。基于波动仿生推进器内部环境及多电机独立控制结构的特点,采用CAN总线来构建波动仿生推进器内部的通信网络。文章对CAN总线在波动仿生推进器上的应用方案进行了系统阐述,提出了具体的软硬件解决方案,并对其中的一些关键点进行了说明。此外,对波动仿生推进器的波动控制技术,即多电机的协调控制方法也作了相应论述。

The undulated biomimetic thruster is a new-style underwater thruster which is based on fish bionics. The Controller Area Network （CAN） is a serial communications protocol which efficiently supports distributed real-time control with a very high level of security. Due to the internal environment and the multi-motor control scheme of the undulated biomimetic thruster, CAN has been adopted to build the communication network inside the undulated biomimetic thruster. The paper gives a systematic dissertation about the application of CAN, including the software design and hardware realization. Besides, there are discussions about the undulated control of the undulated biomimetic thruster, namely the coordinated control of multi motors.