基于CAN总线的水下机器人分布式控制系统

提出并实现了一种基于CAN总线的水下机器人分布式控制系统。与传统的集中式控制系统相比,分布式控制系统可以很容易地接入功能模块而无须对现有硬件进行重新设计,具有更好的可扩展性;并且各个节点间采用数字信号通讯,具有很强的抗干扰能力。开发了基于工业控制计算机的半实物仿真系统,模拟执行机构节点和传感器的工作,接入已完成的自动驾驶仪节点和数据记录及故障检测节点,对控制系统进行实时仿真测试,测试结果验证了该分布式控制系统设计的可行性。

Distributed Control System for Autonomous Underwater Vehicles Based on CAN Bus

A distributed control system for autonomous underwater vehicles based on CAN bus is proposed in this paper.Comparing with the traditional centralized architecture,it can be extended easily by adding new functional modules without modification of the current hardware,and the control nodes can mutually communicate through digital signals with better tolerance to noise.A real-time hardwarein-the-loop simulation system is developed using an industrial control computer to simulate the actuator nodes and sensors.Extensive simulation tests are carried out with the auto-pilot node and the data log and faults detecting node,demonstrating the feasibility of this distributed control system.