基于CAN总线的UUV通信系统与仿真  

Communication and Simulation for Unmanned Underwater Vehicle Based on CAN

作　　者：杨培培[1] 赵诗雅 刘瑞勇[1] 付登昊 李闯[1] 

机构地区：[1]三峡大学,湖北宜昌443000

出　　处：《通信电源技术》2015年第5期208-210,共3页Telecom Power Technology

摘　　要：针对传统采用RS232/RS422通信的集中式控制可靠性低、抗干扰能力差、任务过多过重,部件的兼容性和系统的扩展性差等缺点,论述了基于CAN(Controller Area Network)总线及RS232/RS422通信协议的无人水下航行器UUV分布式控制系统,增强了UUV控制系统的可靠性和容错性,介绍了对UUV航向和深度进行控制的半实物仿真系统,最后给出了UUV航向和深度控制半实物仿真的结果。To overcome the shortcomings existing in the traditional centralized navigation and control system (which a-dopted RS232/RS422 for communication),such as the poor reliability,low anti-jamming capability,over-burden for task, and poor expansion of electronic components and systems compatibility,this paper discusses the unmanned underwater ve-hicle based on distributed control system CAN (Controller Area Network)and RS232/RS422 communication protocol to enhance the reliability and fault tolerance of UUV control system,then introduces the hardware-in-the-loop simulation sys-tem of UUV course and depth controlling.Finally,gives the simulation results.

关 键 词：UUV CAN总线 分布式控制系统 半实物仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]