遥控水下机器人(ROV)分布式控制体系结构

The Structure of ROV＇s Distributed Control System

本文阐述了我国自行研制的600米水深作业型缆控水下机器人（ROV）Bitbus（位总线）分布式控制系统的硬件结构和软件体系。本遥控水下机器人（ROV）经水池及海上试验，技术性能指标完全达到研制要求。它的航行性能及作业能力达到或超过了国际同类产品。位总线分布式控制系统的采用大大增强了显控系统的能力．

This paper introduces the hardware structure and software architecture of the Bitbus distributed control system which is used in the ROV(Remotely Operated Vehicle), The ROV which is designed and built in China can work at 600m depth underwater. Through testing in the tank and sea, the technical quality parameters of the ROV have entirely reached the desired requirements. It＇s sailing quality and work capacity have reached and even exceed the international same preducts. The adopting of the Bitbus distributed control system has greatly increased the capacity of the display and control system.