| 题名 | 水下机器人内部通讯系统研究与设计 |
| 作者 | 黄时佺 |
| 学位类别 | 硕士 |
| 答辩日期 | 2004-06-29 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 中国科学院沈阳自动化研究所 |
| 导师 | 刘健 |
| 关键词 | 水下机器人 通讯系统 CAN 介质访问控制 总线 |
| 学位专业 | 模式识别与智能系统 |
| 中文摘要 | 水下机器人内部通讯系统是水下机器人的一个重要组成部分。它是连接水下机器人控制系统各个组成部分，使之协同工作的纽带。因此，针对水下机器人的特点研究和开发优化的水下机器人内部通讯系统有较大的实用价值，对水下机器人技术的发展也有重要意义。本文针对水下机器人工作环境的特殊性和水下机器人内部控制系统设计要求，分析论述了水下机器人内部通讯系统设计中的几个方面的需求：可靠性、可扩充性、兼容性、性能与节能等。并提出了具体的解决方案。根据这些需求，我们分两个阶段研制了两个总线系统：自定义协议总线系统和基于CAN协议的总线系统。本文详细论述了两个总线系统的设计方法和思想，介绍了具体实现细节。自定义协议水下机器人内部总线系统的核心部分是设计实现了一个介质访问控制层协议。基于此，各个节点可以共享总线完成点对点的通讯任务。基于CAN协议的总线系统以CAN协议为基础，在其上实现了一个传输层。系统的设计引入了现代软件系统设计中的多种先进理念。力求达到可靠性、可扩充性、兼容性、性能与节能等各个方面的设计目标。本文研制的总线系统已经过测试，并在我所新研制的AUV上得到了应用。 |
| 索取号 | TP242.3/H77/2004 |
| 英文摘要 | The inner communication system is a pivotal portion of an underwater vehicle. It is the ligaments that join all the components of the control system of an underwater vehicle and make them work synchronously. So, research on the underwater vehicle and developing a proper inner communication system for it are remarkably valuable. And it is also significative for the progress of the underwater vehicle science. Considering the special operating condition of the underwater vehicle and the request of its inner control system, this paper discusses the properties that requested for the inner communication system. They include reliability, scalability, compatibility, capability and power saving. Base on these discussion, we have developed two communication bus systems in two periods. This paper introduces the design and the technique of the two systems as well as their implementation details. Custom-protocol inner communication bus system for underwater vehicle include a media access control layer (MAC) in its protocol stack which is the kernel portion of it. Depending on the MAC, every node on the communication bus can share the bus and realize point-to-point communication. CAN-based inner communication bus system for underwater vehicle realizes a transport layer upon the CAN protocol. We have introduced some advanced thoughts that have been brought forward in modern software system design into the whole communication bus system design. And we try to make the bus system fulfill the designing objects: reliability, scalability, compatibility, capability and power saving. Both of the bus systems have passed the test and have been used in an underwater vehicle. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 公开日期 | 2012-08-29 |
| 分类号 | TP242.3 |
| 内容类型 | 学位论文 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/9486]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | 黄时佺. 水下机器人内部通讯系统研究与设计[D]. 中国科学院沈阳自动化研究所. 中国科学院沈阳自动化研究所. 2004. |
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