基于FlexRay总线的UUV通信系统设计与实现

Design and Implementation of Unmanned Underwater Vehicle Communication System Based on FlexRay Bus

为满足水下无人航行器(UUV)对高质量通信的需求,将新一代FlexRay总线技术应用到UUV中,构成同步式分布控制系统,取代传统的CAN总线结构;采用飞思卡尔控制器和恩智浦总线驱动器,构建UUV通信网络节点,设计了基于双通道冗余通信方式的总线拓扑,根据UUV特定的控制节点进行了通信总线时槽分配;通过FlexRay总线的速率测试实验,分析了通信帧格式和通信周期结构;实验表明FlexRay总线通信速率可达10Mbps,通信时间可预测,能在重负载通信下为UUV控制系统提供实时可靠的信息。

To fulfill the high-quality communication requirements of Unmanned Underwater Vehicle （UUV）, a new generation of FlexRay bus is applied to construct a synchronous distributed control system to replace the traditional CAN bus. First, Freescale controller and the NXP bus driver are used to construct communication network nodes, then the bus topology based on dual-channel redundant com- munication approach is designed. Bus time slots are allocated according to the the UUV specific control nodes. Through the FlexRay bus rate test, the communication frame format and cycle structure are analyzed. Experiments show that FlexRay bus communication rate can reach up to 10 Mbps, and communication time point can be predicted. The proposed bus can provide real-time and reliable information for UUV con- trol system under the heavy communication load.