水下机器人通信系统的CAN总线冗余设计

CAN Bus Redundancy Design of Remotely Operated Vehicle Communication System

为提高系统在复杂环境下的稳定性和可靠性,对水下机器人(ROV)通信系统进行了研究。设计了通信扩展板,并采用一种全新的基于双CAN总线冗余策略的方法,实现系统各部分之间的通信。通信板卡选用ARM作为微处理器,并通过PC/104总线与主板进行数据传输,同时采用复杂可编程逻辑器件(CPLD)实现双CAN总线冗余策略和总线接口之间的时序逻辑转化。试验结果表明,双CAN总线冗余设计有效地提高了通信系统的可靠性。

In order to increase the stability and reliability of the system in complex environment, the communication system of remotely operated vehicle （ ROV ） is researched. Communication expansion board is designed, and the new redundancy method based on dual CAN bus is adopted to implement the communication among each part of the communication system. The communication board adopts ARM as microcontroller, and PC/104 bus is used to transmit data to the main board. The complex programmable logic device { CPLD} is used to realize the transformation of sequential logic between dual CAN bus redundancy strategy and bus interface. Experimental results show that dual CAN bus redundancy design increases the reliability of communication system effectively.