CAJ | 학술논문

针对传统采用RS422通信的集中式管理中心任务过重、可靠性差、抗干扰能力差等缺点，设计开发一种基于CAN总线的无人水下航行器分布式控制系统。与传统的集中式控制系统相比，该控制系统可以更容易地接入功能模块且无须对现有硬件进行重新设计，具有很好的可扩展性，并充分考虑了该航行器的安全性及可靠性问题。首先，给出分布式控制系统的构建方案，再针对核心PC104控制管理中心给出主要控制模型方法，随后通过建立空间运动方程，完成对控制系统的模型建设和控制器软硬件设计工作，并通过实验室数字仿真和半实物仿真进行验证。结果表明，该控制系统具有性能稳定、传输效率高等特点，能够满足无人水下航行器的使用要求。
침대전통채용RS422통신적집중식관리중심임무과중、가고성차、항간우능력차등결점，설계개발일충기우CAN총선적무인수하항행기분포식공제계통。여전통적집중식공제계통상비，해공제계통가이경용역지접입공능모괴차무수대현유경건진행중신설계，구유흔호적가확전성，병충분고필료해항행기적안전성급가고성문제。수선，급출분포식공제계통적구건방안，재침대핵심PC104공제관리중심급출주요공제모형방법，수후통과건립공간운동방정，완성대공제계통적모형건설화공제기연경건설계공작，병통과실험실수자방진화반실물방진진행험증。결과표명，해공제계통구유성능은정、전수효솔고등특점，능구만족무인수하항행기적사용요구。
To overcome the shortcomings existing in the traditional centralized navigation and control sys?tem (which adopted RS422 for communication), such as the over-burden for the control and management center, poor reliability, and low anti-jamming capability, a CAN bus based distributed control system is proposed for Unmanned Underwater Vehicles (UUV). Compared with the traditional centralized architec?ture, the presented system can be extended easily with reasonable safety and reliability by adding new func?tional modules without complex modification of the current hardware. First, the design scheme of the dis?tributed system is given;then, based on PC104, the major model control strategy is presented. By establish?ing the spatial movement equation, the design of main control modules is completed. Finally, both semi-physical simulation and laboratorial emulation are conducted to validate the stability and transmis?sion efficiency of the control system, which is seen to meet the application requirement of the vehicle.