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基于CANopen协议的水下机器人控制系统设计
Alternative TitleAUV Control System Design Based on CANopen Protocol
金洋; 李硕; 曾俊宝
Department水下机器人研究室
Source Publication计算机测量与控制
ISSN1671-4598
2014
Volume22Issue:7Pages:2076-2079
Contribution Rank1
Funding Organization863计划(2011AA09A105)
KeywordAuv Can Canopen 分布式控制系统
Abstract为了提高AUV控制系统的可靠性、灵活性,采用分布式网络代替之前的集中式网络;并通过CAN和CANopen协议搭建分布式网络,主节点采用ARM-Linux,从节点采用AVR-μCOS;分别针对主从节点进行设计和优化,并给出了具体的实现方法,最后对CAN网络进行了优化;最终提高了AUV的控制系统设计的灵活性,同时提高了可靠性和实时性。
Other AbstractIn order to improve the reliability and flexibility of the SAUV (Small Autonomous Underwater Vehicle)control system, distributed instead of centralized control system structure is used. This system is designed according to CAN and CANopen protocol, and the master node is based on ARM-Linux, slave node based on AVR-μCOS. To build this system, both master and slave nodes are designed and optimized respectively, then the implementation is given and CAN network is optimized. Finally the flexibility of the AUV control system is improved and also the reliability, performance of real-time.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15223
Collection水下机器人研究室
Corresponding Author金洋
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
金洋,李硕,曾俊宝. 基于CANopen协议的水下机器人控制系统设计[J]. 计算机测量与控制,2014,22(7):2076-2079.
APA 金洋,李硕,&曾俊宝.(2014).基于CANopen协议的水下机器人控制系统设计.计算机测量与控制,22(7),2076-2079.
MLA 金洋,et al."基于CANopen协议的水下机器人控制系统设计".计算机测量与控制 22.7(2014):2076-2079.
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