Design And Implementation Of High-Speed Communication Bus In Space Robot System

Currently, traditional bus technology such as MIL-STD-1553B and CAN bus with high stability and fault-tolerance performance are usualy used in the space robots’communication system.They are suitable for controlling of distributed systems and the communication rate is about2Mbps. However, with the development of space robotics, a large number of sensor data and control signals have to be transmitted to meet the needs of space robotic systems for the high-speed performance and control accuracy in the future. The transmission rate will be a limiting factor for further development of space robotics.Therefore, the study of high-speed communication bus for space robot technology has an important significance.This dissertation focuses on the space robots’high-speed communication bus.Research status of home and abroad high-speed communication bus are researched and according to the results a kind of communication system plan is desigened, including setting up a software and hardware platform based on FPGA technology which is used in systems’s node and building a test environment for testing performance of the bus system. In details, the following aspects are contained in this dissertation:Firstly, base on the analyses of current situation of both high-speed communication bus and space robots’control system communication bus,the whole scheme design of high-speed communication bus is proposed, including a selection of the communication bus, the controller platform and the fault-tolerant method.Through analysis and comparison, choose Space Wire bus as space robot communication bus, and use FPGA technology to achieve bus control functions in SOPC technology way.Secondly, the international standard of Space Wire protocol and a open soft-core of SpaceWire controller are studied very carefully.Based on the method of digital ciecuit design, do overall functional and timing tests to verify its accuracy with comparison to the standard protocol.Thirdly, the design of hardware platform based onVirtex4series FPGA from Xilinx is completed and the software system based on Leon3soft-core processor is builted too. A node of high-speed communication bus for space robot system is achieved through the SOPC technology.Finally, set up a test environment for high-speed communication bus system based on the RTEMS system which is a kind of embedded real-time operating system. Under the RTEMS system, a communication bus experiments. are completed and bus performance were assessed. Summarize research results of this dissertation and point out the next in-depth study.