基于总线的多任务无人水面艇分布式控制平台设计

Distributed Control Platform Design of Multi-mission of USV Based on CAN Bus

与有人驾驶船舶相比,无人水面艇具有低成本、高速度、高机动性以及高智能化等特性,特别是在危险情况下能代替人工作业,近年来已成为一个研究热点。文章首先分析了现有无人艇控制系统方案及存在的问题,进而提出了一种基于总线的分布式控制平台设计方案,然后详细分析了智能终端的研制方案。结合实际项目应用进行了系统测试,试验数据表明,分布式控制平台设计方案具有可行性,通过自主研制的智能终端,能稳定、可靠地实现多传感器数据的分布式采集、处理以及共享,分布式结构保证系统能方便地搭载或变更任务模块。

Compared with manned ships, the unmanned surface vehicle（USV） has characteristics of low cost, high speed, high mobility and high intelligence, especially the practical application instead of manual operation in a dangerous situation, which becomes a hot research topic in recent years. The paper firstly analyzes the solutions and the problems of the existing USV control system. Then it proposes a distributed control system framework based on CAN bus. The design scheme of the intelligence terminal is discussed in detail. The system test is done combining with the actual project application. The test data shows that the distributed control platform design solution is feasible. Through the intelligent termination developed independently, the distributed multi-sensor data collection, processing and sharing are realized stably and reliably. The distributed architecture ensures that the system can easily mount or change task modules.