| 小型水下自航行平台控制体系开发 |
| |
| 引用本文： | 侯巍,王树新,梁捷.小型水下自航行平台控制体系开发[J].海洋技术,2005,24(2):9-12. |
| |
| 作者姓名： | 侯巍 王树新 梁捷 |
| |
| 作者单位： | 天津大学机械工程学院,天津,300072;国家海洋技术中心,天津,300111 |
| |
| 基金项目： | 国家863计划资助项目(2001AA632010)、(2004AA639660)，天津大学985学科建设资助项目 |
| |
| 摘 要： | 以小型、经济、易扩展为目标，采用模块化设计思想，开发了一种基于CAN总线的递阶一分布式水下自航行平台控制系统，并重点考虑了安全可靠性，对各节点负载进行了优化分配。实际应用表明，该控制系统结构简单、性能可靠、传输率高，能够满足平台工作环境复杂多变的要求。
|
| 关 键 词： | 水下自航行平台 控制系统结构 CAN总线 故障安全 |
| 文章编号： | 1003-2029(2005)02-0009-04 |
Development of a Control Architecture for Miniature Autonomous Underwater Vehicles |
| |
| HOU Wei,WANG Shu-xin,LIANG Jie.Development of a Control Architecture for Miniature Autonomous Underwater Vehicles[J].Ocean Technology,2005,24(2):9-12. |
| |
| Authors: | HOU Wei WANG Shu-xin LIANG Jie |
| |
| Institution: | HOU Wei1,WANG Shu-xin1,LIANG Jie2 |
| |
| Abstract: | Based on miniature, low cost, expandability, using the modular design, the paper presents a CAN based hierarchical and distributed autonomous underwater vehicle (AUV) control architecture. The safety and reliability of the system are adequately taken in account, and the payloads are optimally allocated for the nodes. Applications show that the control architecture is concise and reliable, and it has high communication rate. It is competent for complex and multivariate operational environment of underwater vehicle. |
| |
| Keywords: | autonomous underwater vehicle control system architecture CAN bus fail-safety |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
