Abstract:CAN bus is applied to autonomous underwater vehicle(AUV) to construct a distributed control system with multimaster to replace the traditional centralized control structure and master-slave network structure used by AUV.The application of CAN bus in AUV is introduced from the viewpoint of the hardware and software.The controller of CAN bus(using) P87C591 microcontroller is designed.According to the features of the AUV distributed control system,the application layer protocol of CAN bus with corresponding software is designed.The feasibility and reliability of the control system is verified with lake test.
[1] 蒋新松,封锡盛,王棣棠.水下机器人[M].沈阳:辽宁科技出版社,2000. [2] 侯巍.自主水下航行器建模与控制系统研究开发[D].天津:天津大学,2004. [3] Szabo S,Oplustil V.Distributed CAN based control system for robotic and airborne applications[A].Proceedings of the 7th International Conference on Control,Automation,Robotics and Vision[C].Singapore:Nanyang Technological University,2002.1233-1238. [4] 饶云涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003. [5] Ridao P,Yuh J.On AUV control architecture[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,USA:IEEE,2000.855-860.