| In the 21st century, human begin to explore the ocean fully. The underwater robot with automatic control system is one of the best ways that human explore the ocean. A basic control system of the autonomous underwater vehicle includes the following modules: navigation, data acquisition, motion control, obstacle avoidance, energy management, fault detection, emergency treatment. Moreover, according to the different mission, the underwater robot also needs to carry other sensors, such as: depth measurement, GPS, radio, all kinds of sonar[1], therefore, multi-node control system is necessary for the autonomous underwater vehicle.After analyzing of the structure and characteristics of the three common multi-node control system, a design method of multi-node control system based on TCP/IP is presented, which will be applied to underwater robot. In the control system, the industrial control computer based on PC104 bus is used for the control node module; the mode of broadcast Ethernet is used for realization of data communication and data exchange between nodes. This multi-node control system is designed using advanced computer hardware and software technology and network technology, which reduces the complexity and cost of the control system to a large extent.In this thesis, the following aspects of work carried out:1. The three common of multi-node control system is described in detail; after analyzing their structure and characteristics, a design method of multi-node control system based on TCP/IP is presented.2. The systematic analysis and research are carried out on the overall structure of the multi-node control system based on TCP/IP.3. According to the functional requirements and structural features of the control system, the node unit is designed in detail.4. After a detailed analysis of the AUV functional requirements and the structure and features of the control system designed in this thesis, the application programs are designed respectively for the functional requirements of the main control unit and the node unit.5. In order to ensure that the multi-node control system based on TCP/IP meets the reliability and stability which AUV control system needs, the test experiments are carried out on serial communication and data exchange between nodes; the results show that the control system designed in this thesis has a high reliability and stability on data communication and data exchange. |
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