基于PeliCAN协议的AUV总线系统设计  

Communication Bus System of AUV Based on PeliCAN

作　　者：朱健[1] 刘卫东[1] 黎娜[1] 张浩[1] 高健磊[2] 

机构地区：[1]西北工业大学航海工程学院,陕西西安710072 [2]西安石油大学,陕西西安710065

出　　处：《计算机测量与控制》2006年第2期244-246,共3页Computer Measurement &Control

基　　金：水下信息处理与控制国防科技重点实验室基金(51448060105HK0361)

摘　　要：设计了基于PeliCAN协议的AUV总线系统;文中介绍了系统总体设计,系统工作流程和基于报文滤波的数据通讯过程;重点介绍了在报文标志符中加入子设备地址的设计方法,在CAN总线原有的开放性基础上,使AUV系统的设备构成更加灵活自由;系统采用双冗余方法,备用总线使系统具有传输容错能力;监测记录系统作为主控计算机的备份,可代替发生故障的主机维持系统正常运转,提高了AUV的可靠性。A bus system based on PeliCAN protocol to fulfill the rigorous demand of AUV is designed, The system structure, working process and data-communication based on message filtering are introduced. Adding sub-device address to the message identifier makes the AUV system more exoteric than that based on standard CAN. Double redundancy is used in the system including redundant bus and detecting ＆ recording device which is the substitute of main computer.It enhances the reliability and fault tolerance of AUV system.

关 键 词：AUV 总线 PeliCAN 报文滤波 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]