Design Of Underwater Vehicle Monitoring System Based On POWERLINK

With the increasing depletion of land resources, it is necessary to research underwater vehicle exploring the ocean which contains a large number resources. The monitoring system is an important component of underwater vehicle, so it is significant to research the monitoring system of underwater vehicle. The paper focus on the underwater vehicle based on POWERLINK, it aims to build a semi-physical simulation platform designed for underwater monitoring system which can verify the performance of underwater vehicle monitoring system in lab.Firstly, the paper analyses the current situation and development trend of the vehicle monitoring system and monitoring system architecture, expounds the characteristics of several Fieldbus, and clears the research direction.Secondly, the paper introduces the composition and principle of vehicle monitoring system. According to the relationship between each module, the hybrid architecture of the vehicle monitoring system is built. Each module is divided into three parts: application layer, network layer and transport layer. The software architecture is built based on the three-layer model.Thirdly, the paper presents the relationship between the each module, gives the communication protocol of the system, shows the design of the initialization process of POWERLINK that enables real-time, reliable, and fast data transfer between modules.Then, the paper analyses the application layer of the system which realized the functions of each module, compiles the software of supervise monitoring system and man-machine interface of motion simulator, establishes a communication bridge between the network layer and the application layer by memory sharing scheme.Finally, In order to improve the stability and check the function of the system, the system is tested in the lab and real simulation environment. The testing consisted of four parts: checking the accuracy of POWERLINK network data exchange, verifying the feasibility of the memory sharing scheme, proofreading the specifications of the system in all working models, and refactoring the system according to the test result.