无人水下航行器分布式运动控制系统设计与仿真验证

针对传统采用RS422通信的集中式管理中心任务过重、可靠性差、抗干扰能力差等缺点，设计开发一种基于CAN总线的无人水下航行器分布式控制系统。与传统的集中式控制系统相比，该控制系统可以更容易地接入功能模块且无须对现有硬件进行重新设计，具有很好的可扩展性，并充分考虑了该航行器的安全性及可靠性问题。首先，给出分布式控制系统的构建方案，再针对核心PC104控制管理中心给出主要控制模型方法，随后通过建立空间运动方程，完成对控制系统的模型建设和控制器软硬件设计工作，并通过实验室数字仿真和半实物仿真进行验证。结果表明，该控制系统具有性能稳定、传输效率高等特点，能够满足无人水下航行器的使用要求。

Design and Simulation of the Distributed Motion Control System for Unmanned Underwater Vehicles

To overcome the shortcomings existing in the traditional centralized navigation and control system （which adopted RS422 for communication）, such as the over-burden for the control and management center, poor reliability, and low anti-jamming capability, a CAN bus based distributed control system is proposed for Unmanned Underwater Vehicles （UUV）. Compared with the traditional centralized architecture, the presented system can be extended easily with reasonable safety and reliability by adding new functional modules without complex modification of the current hardware. First, the design scheme of the distributed system is given;then, based on PC104, the major model control strategy is presented. By establishing the spatial movement equation, the design of main control modules is completed. Finally, both semi-physical simulation and laboratorial emulation are conducted to validate the stability and transmission efficiency of the control system, which is seen to meet the application requirement of the vehicle.