基于CAN总线的自主水下航行器内部通信与仿真  

Intervehicle Communication and Simulation for Autonomous Underwater Vehicle Based on CAN

作　　者：刘卫东[1] 高立娥[1] 徐建宁[1] 姬岩鹏[1] 丁艺林[1] 

机构地区：[1]西北工业大学航海工程学院

出　　处：《系统仿真学报》2007年第6期1320-1322,共3页Journal of System Simulation

基　　金：水下信息处理与控制国防科技重点实验室(9140C2302050603)

摘　　要：自主水下航行器(AUV)的电气控制部件(ECU)大量采用嵌入式微处理器,系统的功能和性能得到了显著提高,但部件间的互连复杂,影响了AUV部件的兼容性和系统的扩展性。论述了基于CAN总线的AUV内部互联结构,对基于报文标志符的CAN总线通信原理,以及AUV深度控制半实物仿真系统的结构进行了详细介绍,最后给出了AUV深度控制半实物仿真结果。Most of the Electrical Controller Units （ECUs） in Autonomous Underwater Vehicle （AUV） adopt built-in processors, which enhance the performance of the whole system. However, this results in the complicated interconnection and influences the AUV＇s compatibility and expansibility. An intervehicle architecture for ECUs of the AUV based on CAN bus was proposed. The communication principle based on the short format message identifier, and the hardware in the loop simulation configuration for AUV depth control system was introduced. Simulation results show that the AUV based on CAN-bus meets the requirements for intervehicle connection among the ECUs.

关 键 词：AUV 内部互联 CAN总线 半实物仿真 

分 类 号：TP36[自动化与计算机技术—计算机系统结构]