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题名: 基于工业以太网载人潜器内部通信系统实现与分析
其他题名: Ethernet-based Inter-communication System for Manned Submersible Vehicle and Performance Analysis
作者: 孟宪伟
导师: 王晓辉
分类号: TN914
关键词: 通信网络 ; 载人潜器 ; 实时性 ; 可靠性
索取号: TN914/M55/2005
学位专业: 模式识别与智能系统
学位类别: 硕士
答辩日期: 2005-05-31
授予单位: 中国科学院沈阳自动化研究所
学位授予地点: 中国科学院沈阳自动化研究所
作者部门: 水下机器人技术研究室
中文摘要: 传统的水下机器人内部通信和控制网络是基于串行总线结构的,虽然这种结构能够满足现今水下机器人的要求,但是有其固有的不足之处:例如数据传输协议不兼容、数据传输不透明、造价高与维护困难等等。本文即是为了克服这些不足以提高系统性能,为载人潜水器设计了一种基于工业以太网的内部数据通信与控制系统。为了分析和解决这些问题,本文采用如下方法构建、实现并分析了潜器的整个内部数据通信系统。 首先,整个系统采用了工业以太网交换机,能够大大降低不同冲突域间的数据包冲突。其中,模拟量和数字量的数据传输中介为WAGO-750系列模块,协议为MODBUS/TCP(一种改进的TCP/IP协议,它能够提供实时可靠的数据流传输),航行传感器数据的传输协议为UDP/IP或TCP/IP协议。为了分析航行控制传感器数据传输的实时性,据其选用的传感器和网络架构的特点,采用协议分段分析和曲线拟合的方法建立了串口数据包传送时间延迟的数学模型,从而为开发人员对各种串口设备的参数设置与分析系统性能提供理论指导。 其次,为了分析网络数据通信的性能、测试潜器控制算法的鲁棒性和稳定性、缩短控制系统的开发周期,根据潜器的自身特点构建和实现了载人潜器所有传感器、执行器设备模拟以及潜器在海底实景的运动状态的半物理虚拟仿真系统。在半物理虚拟仿真系统的基础上,在Windows CE.NET操作系统下,用EVC开发工具实现了载人潜器的内部数据通信与控制系统软件,软件结构采用分布式分层递阶(Hierarchical)的体系结构。 最后,根据系统数据流量统计和数据传输模式,在以太网协议基础上建立了载人潜器数据传输可靠性的数学模型,模型的数据模拟表明该网络具有高可靠性的数据传输。而且,用所建立的串口数据包传送时间延迟的数学模型,分析了各种数据包传输的实时性能,提出了提高系统数据传输实时性的方法。实验测试与理论分析表明,该系统具有较好的实时性能。并在半物理虚拟平台上,得出了采用PID控制时潜器自动定向的控制结果。整个系统运行了24个小时,试验结果表明:24个小时内,潜器数据传输和运动控制状态始终保持稳定。 总之,通过具体的理论分析和实验验证,潜器的整个数据通信网络系统是一个高带宽、低负荷、高可靠性的系统,且具有良好实时性能。只要合理的设计与科学的开发,完全可以胜任潜器内部数据通信和控制系统高性能的要求。
英文摘要: Although traditional serial bus-based inter-communication for underwater vehicles can satisfy vehicles’ requirements, but it has its intrinsic shortcomings such as opaque data transmission, incompatible data transmission protocol, high cost and difficult maintenance etc. So in order to overcome those shortcomings, an Ethernet-based inter-communication data transmission and control system for manned submersible vehicle is designed and implemented. On the other hand, because of Ethernet MAC protocol and 1-persistent CSMA/CD on the basis of BEB algorithm, it is hardly possible to fabricate real-time and reliable data transmission networking. Therefore, in order to analyze and track for those problems the ways as follows in this paper are adopted to build, implement and analyze the whole system for manned submersible vehicles. Firstly, industry Ethernet switch is the center of the overall system that constitutes star topology framework in physical; and navigation computer is this center in logic, which implements master-slave synchronous data transmission mode. Hereinto, data transmission protocol of A/D and D/A is MODBUS/TCP (a developed TCP/IP), and data transmission protocol of navigation sensors is UDP/IP (TCP/IP). In order to analyze the real-time performance of navigation sensors data transmission, this paper uses protocol-subsection and curve analogy ways to establish math model of transmission delay for serial data packets. Moreover, on the vehicles’ platform the real measure data verify its precision and universality therefore to provide theoretical guidance for engineers to set the serial device parameters and analyze system performance. Secondly, before sea experiments the inter-communication system must be implemented in order to analyze the performance of networking data transmission, test the robust and stability the control system. Therefore, in order to shorten the development period semi-physical simulation system is established and implemented and this system can demonstrate the vehicle’s motion status; moreover, it also simulate all the sensors data of this vehicle. Based on this simulation system,under the environment of Windows CE.NET and with the tools of EVC the inter-communication system software, which structure is used as hierarchical system frame, is developed. At last, according to the system data throughput statistics, data transmission model and Ethernet protocol the stability math model of the vehicle’s data transmission is contrived. The simulation outcomes of this model indication that there is any packet losing because of Ethernet data packets colliding and the probability working without any errors when the network has been running continuously for 860401hours. Hence, this network is taking on high stability performance. Moreover, math model of transmission delay for serial data packets establishing above is adopted to analyze various data transmission real-time performance and the ways to improve the real-time performance is proposed. Experiments test and theoretical analysis make clear that this system has a good real-time performance.
语种: 中文
产权排序: 1
内容类型: 学位论文
URI标识: http://ir.sia.cn/handle/173321/9483
Appears in Collections:水下机器人研究室_学位论文

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