摘要
UUV的遥操纵系统,通过光纤将UUV与人工监视平台相连,UUV内部使用CAN网络;连接在CAN网络上的各个传感器把大量的信息传回,由人工监测平台计算机进行精密的解算,并发出控制命令给UUV;CAN网络和以太网采用的是不同的传输协议,所以系统设计的关键技术之一就是两种协议的转换;本文设计了一个嵌入式网关解决协议转换.该网关设计优点是其在ARM的硬件基础上,结合了μC/OS-II操作系统,使得网关本身小型化,信息协议转换更加快速,稳定;文章给出了网关软硬件结构,使用先进先出数据队列(FIFO)进行数据缓存,来平衡部件之间的通信速率,列出太网和CAN的驱动程序,最后以实验数据验证网关的可行性。
In the remote manipulation system, the UUV which uses CAN bus is connected with monitoring platform by cable. The information from each sensor is transmitted to the monitoring platform for precise calculation of control command, then the platform send the command to the UUV. While it is different protocol between CAN and Ethernet, the protocol switch is the key technology of the system design. So an embedded gateway is designed to solve the problem in this paper. The gateway combined with the μC/OS-Ⅱ operation system is based on chip ARM, which made the gateway miniature, stable and can speed up the rate of mutil--protocol switch. The hardware architecture, the main software approach and the interface drivers for Controller Area Network （CAN） and TCP/IP is introduced in the paper. Finally a experiment result proves the feasibility of the gateway.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第7期1344-1346,1349,共4页
Computer Measurement &Control
基金
水下信息处理与控制国防科技重点实验室基金资助项目(9140C2302090803)
陕西省科技计划项目(2008K04-13)
关键词
遥操作
嵌入式网关
数据队列
remote operation
embedded gateway
data queue
