| As a highly intelligent unmanned control platform,modern unmanned surface vehicles have very complicated internal control networks and related structural units.The various types of buses contained in their control systems are incompatible with each other,making data transmission and interaction inside the unmanned surface vehicle difficult,which limits the development of the unmanned surface vehicles to a certain extent.Therefore,without changing the existing control network architecture of the unmanned surface vehicles,this thesis proposes a multi-bus conversion scheme,and based on this scheme,a multi-bus conversion and data monitoring system of the unmanned surface vehicle is designed and implemented.Based on the analysis of the control network of the xx68 series unmanned surface vehicle independently developed by the team,this thesis designs and implements the bus protocol conversion hardware for CAN,Ethernet,RS485 and RS232,and then develops the underlying software for bus driver and protocol conversion.In addition,in order to monitor the internal control variables of the unmanned surface vehicles,the host computer monitoring software based on the Labview has been developed.The specific work is as follows:First of all,aiming at the problem that the control system of the unmanned surface vehicle contains many types of buses which are incompatible with each other,a hardware platform that is compatible with CAN,Ethernet,RS485 and RS232 is developed and the bus interfaces adopt redundant design to improve the stability and reliability of data transmission.Secondly,on the basis of completing the hardware design,in order to solve the problem of bus incompatibility,the underlying software of bus driven and protocol conversion is developed,which possesses the functions of bidirectional protocol conversion from CAN to Ethernet,RS485 to Ethernet,and RS232 to Ethernet.Third,Using the Labview as the development platform,the PC monitoring and data storage system adopting multi-threading,database,multi-level queue for data processing algorithms and other technologies in soft design can improve the real-time of the PC monitoring and possesses the function of changing the parameters in real-time and frequency conversion acquisition.After the system design was completed,with the help of the unmanned surface vehicle’s experiment platform,the function of protocol conversion function of lower computer system,changing the monitoring parameter in real-time,frequency acquisition and data storage of the PC monitoring and data storage system were tested.The test results show that the system’s functions and performance meet the design requirements verified the feasibility and effectiveness of the plan. |
