|
|||||
|
|
| 水下机器人推进系统CAN应用层协议设计 | |
| 引用本文： | 郭威,王明明,许光君.水下机器人推进系统CAN应用层协议设计[J].机械设计与制造,2011(7). |
| 作者姓名： | 郭威 王明明 许光君 |
| 作者单位： | 1. 中国科学院,沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016 2. 中国科学院,沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016;中国科学院,研究生院,北京,100039 3. 辽宁省交通高等专科学校,沈阳,110122 |
| 基金项目： | 国家自然科学基金资助项目(60605029); 国家863计划资助项目(2006AA04Z232); 4500米载人潜水器控制系统设计与关键技术研究(2009AA093302) |
| 摘 要： | 针对水下机器人的推进系统,设计了一种主从模式的CAN总线应用层协议,该通信协议采用轮询、命令/响应、节点控制、状态传输4种通信模式。详细介绍了CAN总线应用层协议的报文格式和通信模式设计,并将该通信协议成功的应用于水下机器人推进系统中。应用结果表明,该协议能够保证推进系统通信的实时性、可靠性,很好的满足了水下机器人推进系统的通信要求。对于CAN应用层协议在水下机器人其它方面的应用也具有一定的借鉴意义。 |
| 关 键 词： | CAN总线 应用层协议 通信模式 |
Design of a CAN application-layer protocol for propulsion system of underwater vehicle |
|
| GUO Wei,WANG Ming-ming,XU Guang-jun.Design of a CAN application-layer protocol for propulsion system of underwater vehicle[J].Machinery Design & Manufacture,2011(7). | |
| Authors: | GUO Wei WANG Ming-ming XU Guang-jun |
| Affiliation: | GUO Wei1,WANG Ming-ming1,2,XU Guang-jun3(1State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Science,Shenyang 110016,China)(2Graduate School of the Chinese Academy of Sciences,Beijing 100039,China)(3Liaoning Provincial College of Communications,Shenyang 110122,China) |
| Abstract: | A CAN application-layer protocol bus communication with master-slave mode is developed to the need of the propulsion systems of underwater vehicle,in which the communication is implemented in polling,the command/response as well as the node control and state transfer mode.The design of the protocol format and communication mode is described in detail and the protocol has been applied to the propulsion system of underwater vehicle successfully.The results show that the proposed application layer communicatio... |
| Keywords: | CAN bus Application-layer protocol Communication mode |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |