基于总线的多任务无人水面艇分布式控制平台设计

相比有人驾驶船舶，无人水面艇因其具有低成本、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代替人工作业的应用实践，近年来已成为一个研究热点。本文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、主控单元的设计方案。结合实际项目应用进行了系统测试，试验数据表明本文提出的分布式控制平台设计方案可行，通过自主研制的智能终端可稳定、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可方便地搭载或变更任务模块。

The control platform design of multi-mission of USV distributed based on CAN bus

Compared with manned ship, Unmanned Surface Vehicle(USV) has the characters of low cost, high speed, high mobility and high intelligence, especially the practical application instead of manual operation in a dangerous situation, and becomes a hot research topic in recent years. This paper firstly analyzes the solutions and the problems of the existing USV control system. Then it proposes a distribute control system framework based on CAN bus. The design of the intelligence terminal and the main control unit have been discussed in detail. The framework has been developed and field tested in a actual project application. The successful demonstration shows that the potential for stable and reliable distributed multi-sensor data collection, processing and sharing is highly possible. The distributed architecture ensures that the system can be easily mounted or change the task module.