基于以太网的水下自主航行器分布式控制系统研究

Research on Distributed Control System of Autonomous Underwater Vehicle Based on Ethernet

摘要:

针对模块化小型 AUV 平台高速、宽带的数据通信需求和设备分散的特点,设计了一种分布式控制系统。 控制系统硬件采用基于网络的分布式架构,在较好地减少传输信号线,提高抗干扰能力的同时提高 AUV 平台的设备间兼容性和通信速率。 控制系统软件采用分层控制体系,由显控设备控制的任务层,控制计算机控制的自主层以及由微控制器节点控制的执行层,实现实时任务和控制命令的分离,减小任务层的运算量,方便软件的维护升级。 实航试验中 AUV 准确地完成了复杂的路径规划和地形测量任务,表明控制系统运行稳定可靠,为 AUV 平台的通用化、小型化设计提供参考。

Abstract:

With the requirements of high-speed broadband data communication and the characteristics of distributed equip- ment for modular small autonomous underwater vehicle (AUV) platform, a distributed control system is designed. The control sys- tem hardware uses distributed architecture based on network which reduces signal transmission line, improves anti-interference abili- ty, compatibility and communication rate of AUV platform. The control system software uses hierarchical control system. This soft- ware system consists of the task layer by display control unit, the autonomous layer by control computer, and the executive layer by microcontroller node. The control commands separates from real-time tasks so that reduces task layer’s computation and convenient for software’s upgrading. AUV accurately accomplishes complicated route planning and topographic survey task in shipping trial, which indicates the operation of control system is stable and reliable, and provides reference for generalization and miniaturization design of AUV platform.