CAN总线在水下航行器导航与控制系统中的应用

Application of CAN in Underwater Vehicle's Navigation and Control System

中文关键词:  水下航行器导航和控制系统  CAN总线  分布式系统  通信方案

英文关键词:underwater vehicle's navigation and control system  CAN  distributed system  communication scheme

中文摘要:

      导航和控制系统是水下航行器的重要组成部分，CAN总线是现场总线和分布式实时控制的发展趋势。针对传统采用RS422通信的集中式导航控制系统中控制管理中心任务过重、可靠性差、抗干扰能力差等缺点，设计了基于CAN总线的分布式导航和控制系统。首先给出了分布式系统的构建方案；再针对基于PC104的控制管理中心、预置器与CAN总线的通信给出了电路设计和系统通信方案；最后详细设计了基于TMS320F2812DSP的舵机控制系统、动力推进控制系统、多普勒系统、惯导系统和GPS系统的通信电路和软件。实验室系统样机试验表明，

英文摘要:

      The navigation and control system is the important part of underwater vehicle,while fieldbus and distributed realtime control regard CAN as the developing trend.To overcome the shortcomings such as heavy burdens loaded on the centre of control and management,poor reliability and low anti-jamming ability existed in traditional centralized navigation and control system,which adopted RS422 for communication,a CAN based on distributed navigation and control system is proposed.The design scheme of distributed system is given at first.Later,aimming at the communication between CAN and the centre of control and management and preset device based on PC104,the circuit and scheme are designed.Finally,the circuit and communication software for TMS320F2812DSP based on servos controller,power propulsion controller,Doppler dead reckon,INS and GPS system are designed in detail.The test of laboratorial proto proves that CAN based on distributed system can meet the underwater vehicle's demands in navigation and control.