摘要
针对集中式体系结构已不能满足无人水下航行器(UUV)越来越复杂的水下任务,设计并实现了UUV实时系统,该实时系统以分布式结构为基础,在硬件上采用CAN总线技术,减少了通信时间,提高了实时性,简化了系统,并提供了良好的扩展性;在软件设计上采用μC/OS实时操作系统,方便地实现了逻辑复杂的程序,并进一步满足了系统的实时性.仿真和实时性测试试验结果表明,该系统软、硬件设计满足程序运算、数据存储和实时性的要求,并具有较高的可靠性.
Due to the undersea tasks is more and more complex, concentrated-frame design methods of Unmanned Undersea Vehicles （UUVs） meets difficulties. To solve the problem a real-time system for UUVs is presented It based on distributed-frame design method In the hardware design CAN bus is adopted, which makes the communication between controller and executor more quickly. And in software design a real-time operation system called μC/OS is used, it solves the time-delay problem. The simulation and real-time ability test are made, and the results show that the system works well.
出处
《船舶工程》
CSCD
北大核心
2009年第3期55-58,共4页
Ship Engineering
基金
国家自然科学基金资助项目(60875071)
教育部新世纪优秀人才支持计划(NCET-06-0877)
关键词
无人水下航行器
实时系统
分布式
CAN总线
unmanned underwater vehicle （UUV）
real-time system
distributed-frame
CAN bus
