| 无人水下航行器网络控制器设计 |
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| 引用本文： | 张立川,徐德民,刘明雍.无人水下航行器网络控制器设计[J].船舶工程,2010,32(5):30-32. |
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| 作者姓名： | 张立川 徐德民 刘明雍 |
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| 作者单位： | 西北工业大学航海学院,西安,710072;西北工业大学航海学院,西安,710072;西北工业大学航海学院,西安,710072 |
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| 基金项目： | 西北工业大学基础研究基金 |
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| 摘 要： | 传统无人水下航行器采用集中式结构设计,导致系统计算负担重、容错能力差、结构复杂.设计并实现了基于分布式结构的网络控制器,分析系统的工作原理,建立网络控制模型,设计网络控制器数据传输协议,并给出了硬件设计思路和软件开发,通过试验对网络控制器进行了验证。
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| 关 键 词： | 无人水下航行器 网络控制系统 分布式 |
Design of Networked Controller for Unmanned Underwater Vehicle |
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| ZHANG Li-chuan,XU De-min,Liu Ming-yong.Design of Networked Controller for Unmanned Underwater Vehicle[J].Ship Engineering,2010,32(5):30-32. |
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| Authors: | ZHANG Li-chuan XU De-min Liu Ming-yong |
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| Institution: | ZHANG Li-chuan,XU De-min,Liu Ming-yong(College of Marine,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | Traditional unmanned underwater vehicle adopts concentrated-frame,which has a lot of disadvantages,such as too much computing load,low tolerance capability,high failure rate and so on.To solve these problems,a networked controller based on distributed-frame method is designed for unmanned underwater vehicle.This paper presented the system principle,and designed the network model and network protocol.The hardware and software design are also given.The experiment result verifies the design of the network cont... |
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| Keywords: | unmanned underwater vehicle networked control systems distributed-frame |
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