Internal Information Transmission Method Of The Underwater Vehicle Research

Autonomous Underwater Vehicle (AUV) is an important vehicle applied in ocean survey and exploitation. It is very significant to research and develop novel intelligent AUV for our ocean resource exploitation and utilization. According to the need of developing a new type AUV, this thesis provides the AUV's interior control & communication systems based on CAN fieldbus technique. The main work of this thesis is summarized as following:1. According to the requirements of the task and performance of an automatic underwater vehicle, an integrated scheme of control & communication system is proposed, and the hardware of transfers system of simulating AUV's interior configuration is established by making use of Advantech industrial computer.2. According to the characteristics of the data transmission in the AUV's interior system bus, a CAN protocol in application layer is accomplished. In the protocol, there is compartmentalization of node, setting of accept filter, definition of message identifier, coding of transfer data and so on. Based on the protocol described above, a communication among the AUV's interior devices has been carried out. An analysis of transfer data in the AUV's interior control & communication also had been done, and the transfer of periodic data in the bus had been optimized by genetic algorithm (GA).3. The AUV's interior control & communication systems software requirement analysis and detailed design are accomplished based on software engineering method. Finally, a demonstrate software which can simulate, inspect and record the AUV's voyage progress is provided by Visual Basic language.