基于PC104与分布式CAN总线的远程AUV悬停系统

在传统AUV的设计的基础上,采用PC104硬件和分布式CAN总线通信技术,构造了一种开放的开发架构,可以根据实际需要融合大量传感器;软件设计基于VXWORKS实时操作系统,可方便扩展各种功能;AUV悬停控制系统采用变结构滑模控制算法,比传统的PID控制算法适应性更广;对远程AUV的工程设计有较好的参考价值。

Station Keeping System of Long-distance AUV Based on PC104 and Distributed CAN Bus

The paper introduces the AUV design system which contains the PC104 hardware framework and the distributed CAN bus. The software design is based on the real-time operation system VXWORKS. The station keeping system of the long distance AUV uses variable control algorithm which has wider appli- cation than traditional PID algorithm. It has reference meaning for long distance AUV design.