摘要
Abstract
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.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Key words
underwater vehicle's navigation and control system/ CAN/ distributed system/ communication scheme分类
信息技术与安全科学
