基于动态CAN技术的UUV控制网络设计

Design of UUV Control Network Based on Dynamic Time Division Multiplexing CAN Technology

针对新一代水下无人潜航器各功能部件间对互联控制网络的通信实时性、网络节点扩展灵活性和网络可靠性的要求,本文研究了基于动态时分复用技术的CAN报文调用策略在UUV系统中的应用方案,并结合CAN协议的错误自检功能设计了具有较高可靠性的冗余式软硬件处理策略,在此基础上构建了UUV系统的内部电气功能控制网络;实验室中通过利用计算机作为总调度机配合4套UUV内部功能部件进行连续工作模式实验,对网络进行168小时不间断测试,测试结果表明本文设计的控制网络较传统UUV控制网络通信平均时延小,小于9ms,功能结构重组灵活,适合于在未来复杂水下自主潜航器控制系统中推广应用。

In order to satisfy the needs for the Unmanned Underwater Vehicles control network which must be of real--time communica tion, flexible extension and high reliability, the research presents a new message scheduling strategy based on dynamic time division multiple xing CAN bus technology and a hardware --software achievable redundancy scheme for the UUV＇s control network. Using a central computer as the communication scheduling computer and 4 sets of the UUV function module to continue a continuous 168 hours experiment to test the control network, the results of the experiment show that the UUV＇s control network we have designed has better real--time performance with average delay less than 9ms and reliability can satisfy the requirements of UUV control system.