CAJ | 학술논문

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。
침대전통채용 RS232/RS422통신적집중식공제가고성저、항간우능력차、임무과다과중，부건적겸용성화계통적확전성차등결점，논술료기우 CAN(Controller Area Network)총선급 RS232/RS422통신협의적무인수하항행기 UUV분포식공제계통，증강료 UUV 공제계통적가고성화용착성，개소료대 UUV 항향화심도진행공제적반실물방진계통，최후급출료 UUV 항향화심도공제반실물방진적결과。
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.