面向水下航行器运动控制系统的自适应中间件设计

Design of Adaptive Middleware of Motion Control System for Underwater Vehicle

水下航行器运动控制系统一般采用可靠性强的分布式运动控制技术,高实时性业务需求对通信信道的及时响应提出了较高的要求。文中基于反射技术构建了一类面向水下航行器运动控制系统的中间件,包括构件化内核、通用总线通信适配器和上下文管理器等单元;设计了通信策略适配器解决异构硬件平台间的通信耦合性问题。最后进行了通信资源请求可伸缩性仿真试验,对原型系统及相关模型、通信策略适配器的可行性进行评估,验证了文中提出的自适应中间件的有效性和扩展性,其有助于为集成下一代水下航行器控制系统提供参考。

Underwater vehicle motion control system generally uses distributed motion control technology with high reliability, where real-time business requirements demand faster response of a communication channel. In this paper, the reflection technology is used to design a kind of middleware for underwater vehicle motion control system, including such units as a composition core, a general bus communication adapter and a context manager. A communication strategy adapter is also designed for solving the communication coupling between heterogeneous hardware platforms. In addition, a simulation experiment of communication resource request retract ability is conducted to evaluate the feasibilities of the present prototype system, the related model and the communication strategy adapter, and the effectiveness and extensibility of the proposed adaptive middleware are verified. This adaptive middleware may provide a reference for integrating next generation of underwater vehicle control system.