基于TTCAN和NCS的鱼雷制导系统结构

研究了时间触发的CAN总线、网络控制系统和基于网络控制原理的鱼雷制导系统。对于基于时间触发的TTCAN，详细分析了高层协议及工作原理。提出基于NCS的鱼雷制导系统一般性结构和设计方法，通过仿真分析了鱼雷网络控制系统存在的时延和数据包丢失等稳定性问题。通过对鱼雷网络控制系统结构、实时网络通信协议和规范的研究，指出NCS将是下一代全数字鱼雷的重要技术基础和结构。

Framework of AUV Guidance System Based on TTCAN and NCS

Because of the advantages of networked control system(NCS) such as high reliability and flexibility,NCS has been used widely in various fields.The time-triggered controller area network(TTCAN) is based on static-schedule timetriggered paradigm and provides intrinsic deterministic behavior.In the traditional AUV(autonomous underwater vehicle) guidance system,the centralized control based on pot to pot and the field control based on CAN(controller area network) bus have continued to be used,but because of their shortcomings we put forward the framework of AUV guidance system based on TTCAN and NCS.This structure not only solves the real-time problem of information transmission of AUV but also achieves information sharing.However,NCS also inevitably brings some problems such as instability.In this paper,the networked control principle and the TTCAN protocol are introduced and analyzed.Then the typical framework of AUV guidance system based on TTCAN and NCS is studied.Some unstable factors of NCS,such as network-induced delay and data packet dropout,are discussed.This paper points out the significance of the framework of AUV guidance system based on TTCAN and NCS.