北极冰下自主/遥控机器人控制系统设计

• Main Authors: 景晨, 李硕
• Format: Report
• Language: Chinese
• Published: 2009
• Subjects: ARV; PC104; CAN; QNX; 控制系统; controller area networks; control system; field buses; instrumentation buses; Profibus; peripheral interfaces; Bitbus; Enhanced Small Device Interface; ESDI; General Purpose Interface Bus; GPIB; Hewlett Packard Interface Bus; HPIB; IEEE 1394; IEEE-488; IMS-2 interface; PCI (peripheral component interconnect); peripheral component interconnect; peripheral controllers; RS-232; SCSI; Small Computer System Interface; V.24 bus; VXIbus; SC-SI; semiclassical state interaction; Arctic
• Online Access: http://210.72.131.170//handle/173321/3463

针对北极冰下海洋参数监测的使命要求,对水下机器人控制系统进行了相关研究,将PC104总线与CAN总线应用到自主/遥控水下机器人中,实现了一种分布式与集中式相结合的水下机器人控制系统体系结构。从硬件和软件两个方面描述北极自主/遥控水下机器人控制系统的实施方案。 基金申请人:李硕;项目名称:北极冰下自主/遥控海洋环境监测系统;基金颁发部门:国家863计划(2007AA09Z122) A study is made on the control system of underwater unmanned vehicle at the request of monitoring under ice of the Arc-tic Pole.The PC104 bus line and CAN bus line are applied in the underwater unmanned vehicle and an underwater unmanned vehi-cle control system structure integrated with both distribution and centralization modes are established.Intends to describe the realiza-tion scheme of the Arctic Pole control system from the aspects of both hardware and software.