CAJ | 학술논문

基于工业以太网标准Modbus/TCP通信协议，提出了一种岸基监控台与无人水下航行器之间的实时通信方案，以对无人水下航行器的位姿、状态进行实时监视与远程控制，并完成了基于工业Modbus/TCP协议的无人水下航行器监控系统设计。文中给出了该监控系统的水面和水下两级结构与组成，并详细地讨论了通信协议的确定以及两级系统的硬件平台搭建和监控软件设计；最终，完成了对无人水下航行器监控系统的水池联调试验。水池联调试验结果表明：基于工业Modbus/TCP协议的无人水下航行器监控系统实时性好，可靠性高。
기우공업이태망표준Modbus/TCP통신협의，제출료일충안기감공태여무인수하항행기지간적실시통신방안，이대무인수하항행기적위자、상태진행실시감시여원정공제，병완성료기우공업Modbus/TCP협의적무인수하항행기감공계통설계。문중급출료해감공계통적수면화수하량급결구여조성，병상세지토론료통신협의적학정이급량급계통적경건평태탑건화감공연건설계；최종，완성료대무인수하항행기감공계통적수지련조시험。수지련조시험결과표명：기우공업Modbus/TCP협의적무인수하항행기감공계통실시성호，가고성고。
Based on industrial Ethernet standard Modbus / TCP, a method for real-time communication between the remote monitoring station and unmanned underwater vehicle is proposed, so that the real-time position, attitude and status of the unmanned underwater vehicle can be monitored and operated by the remote station. This paper presents the structure and composition of a two-level monitoring system for the unmanned underwater vehicle, gives the communication protocol, and shows the design of hardware and software systems. Finally, the two-level system is tested in a tank. Test results demonstrate that the system based on industrial Modbus/TCP has satisfactory real-time performance and high reliability in the aspects of monitoring and control.