| 基于CAN总线多主节点结构的自治水下机器人通信系统 |
| 投稿时间：2009-01-03 修订日期：2009-07-25 点此下载全文 |
| 引用本文：张颖,张有志,方敏,朱大奇.基于CAN总线多主节点结构的自治水下机器人通信系统[J].上海海事大学学报,2010,31(1):39-42. |
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| 基金项目:上海市教育委员会支出预算资助项目（2008100） |
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| 中文摘要:为满足自治水下机器人（Autonomous Underwater Vehicle, AUV）对实时数据通信和现场测控的要求，设计开发控制器局域网络（Controller Area Network， CAN）通信节点，实现基于CAN总线技术的自治水下机器人网络通信.该方法在研究基于CAN总线的多主节点构架的现场网络通信结构基础上，将自治水下机器人系统分为若干个结构单元，对应于不同的CAN总线节点；用CAN总线构成多主站分布式控制系统取代集中式控制系统，实现实时通信.试验表明，该总线结构可使AUV系统的通信线缆得到有效精简，并使整机系统获得较好的通信性能. |
| 中文关键词:控制器局域网络 自治水下机器人 网络通信 节点 |
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| Autonomous underwater vehicle communication system based on multi node structure of CAN bus |
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| Abstract:In order to meet the needs of real time communication and field detection in Autonomous Underwater Vehicle (AUV), a node of Controller Area Network (CAN) communication is designed, and a communication network in AUV based on CAN bus technology is completed. On the bases of research on multi node structure of CAN bus for field network communication, the AUV system is divided into several communication units, each of which has its compatible node controller of CAN bus. The structure of centralized control system is replaced by this kind of multi node distributing control system, and the real time communication by CAN bus is realized. The experiments illustrate that the amount of communication wire can be reduced by implementing this kind of structure, and the communication performance for the whole system can be promoted remarkably.
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| keywords:controller area network autonomous underwater vehicle network communication node |
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