基于CAN总线的自治水下机器人控制系统  

CAN-Bus-Based Control System for Autonomous Underwater Vehicle

作　　者：张宏伟[1] 王树新[1] 杨晓华[1] 侯巍[1] 梁捷[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]国家海洋技术中心,天津300111

出　　处：《机器人》2006年第4期448-452,共5页Robot

基　　金：国家863计划资助项目(2001AA632010)

摘　　要：将CAN总线应用在自治水下机器人中,构成多主站的分布式控制系统,取代了以往水下机器人采用的集中式控制结构及主从式网络结构.从硬件和软件两方面详细介绍了CAN总线在自治水下机器人中的应用方案,设计了基于P87C591单片机的CAN总线控制器,并针对水下机器人分布式控制系统的需求特点,设计了CAN应用层协议和相应的通信软件.最后通过湖试验证了控制系统的可行性和可靠性.CAN bus is applied to autonomous underwater vehicle （AUV） to construct a distributed control system with multimaster to replace the traditional centralized control structure and master-slave network structure used by AUV. The application of CAN bus in AUV is introduced from the viewpoint of the hardware and software. The controller of CAN bus using P87C591 microcontroller is designed. According to the features of the AUV distributed control system, the application layer protocol of CAN bus with corresponding software is designed. The feasibility and reliability of the control system is verified with lake test.

关 键 词：自治水下机器人 分布式控制系统 CAN总线 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]