摘要
介绍了以太网—CAN网络实验平台的构建思路及设计实现方法;利用以太网终端计算机对无人水下航行器(Unmanned Underwater Vehicle,UUV)的航行深度进行远程遥控;文中主要介绍了网关的软件设计方法,节点接收滤波器和消息标识符的设置及其在多点通信中的应用;该系统目前完成了4个节点的模拟通信并能够保存所有的实验数据,实验结果显示该实验平台有较好的实时性和稳定性,为航行器深度控制系统性能分析提供参考。
A method of design and implementation for the Ethernet--CAN network experimental platform are presented. Our motivation is utilizing the Ethernet computer to control the depth of the Unmanned Underwater Vehicle based on modularization. The paper mainly introduces the architecture of Ethernet--CAN gateway, setting of messages identifier, accepting filter for nodes, and the application in multicast communication. The system has 4 nodes, and all the messages transmitted through the CAN are recorded for future research.
出处
《计算机测量与控制》
CSCD
2008年第8期1184-1186,1189,共4页
Computer Measurement &Control
基金
国防科技重点实验室基金试点项目(9140C2302050603)
