基于LabVIEW的空间机器人通信协议集成研究

针对空间机器人,采用气浮台方式作为地面试验平台。空间机器人气浮式地面试验平台复杂度高、仿真性能要求严格,涉及众多仿真软硬件和多个分系统,如何实现各分系统、多个仿真软件及不同通信协议的集成将是一项极具挑战性的难题。详细分析了空间机器人气浮式地面试验平台中的集成需求,重点研究了通信协议集成,使用虚拟仪器软件框架（VISA）和数据整合等方式实现TCP/IP、CAN、RS232等不同的通信协议之间的集成。最后通过仿真试验对集成技术的运用进行验证,仿真结果表明该集成技术完全能够实现不同通信协议之间的集成,为下一步空间机器人气浮式地面试验提供支撑。

Research on Communication Protocol Integrated about Space Robot Based on LabVIEW

For space robot,use air-bearing table as ground test platform.Space robot air-bearing ground test platform is highly complex,simulation performance demanding,which involves a number of simulation software and hardware and multiple sub-systems.How to integrate various sub-systems,a number of simulation software and different communication protocols will be a very challenging problem.Analyse the integration requirement of the space robot air-bearing table ground test platform in detail,focus on the integration of communication protocol,use VISA and data integration,etc.to achieve TCP / IP,CAN,RS232 and other communication protocols between the different integration.Finally,through simulation to verify the use of integrated technology,simulation results show that the integrated technology can completely achieve the integration of different communication protocols,provide support for the next space robot air-bearing ground experiments.