Design Of The Communication Scheduling Algorithm And Software Of The Control Network Of Unmanned Underwater Vehicle

With the rapid development of unmanned marine system,it is of great importance for the research on unmanned underwater vehicle.Based on the complex control network and special situation,aiming at how to ensure the real-time and reliability of communication scheduling and how to implement all functions and tasks orderly,this thesis proposes a communication scheduling algorithm based on the dual master-slave scheduling,which is embedded with the technology of communication fault diagnosis and emergency strategy.The availability,reliability and portability of the algorithm and software are verified by the experiment.First of all,based on the research of unmanned underwater vehicle,aiming at the problems of communication scheduling of control network,the function and structure and communication requirements of the control system are analyzed in detail.So as to implement the design of the overall framework.Secondly,based on the research of control fault diagnosis and emergency strategy of unmanned underwater vehicle,aiming at the problems of communication fault diagnosis and emergency strategy,the navigation fault and risk are analyzed in detail and the technology of fault attribution based on fault tree and communication fault diagnosis based on multi-state error count are put forward.Aiming at the problems of emergency decision-making for multi-channel fault,the technology of emergency decision-making based on emergency expert model is put forward.Finally,aiming at the problems of communication scheduling,four solutions are put forward and the scheduling sequence of two working modes is analyzed in detail.Thus,a communication scheduling algorithm based on dual master-slave scheduling is put forward.The availablity,reliability and portability of the algorithm and software designed and implemented based on modularization are verified by the experiment.