Design And Implementation Of Real-time Control Network For Large Scale Underwater Unmanned Operation Platform

With the rapid development of marine exploration technology,the international competition in the marine field has become increasingly fierce.Large-scale unmanned underwater operation platforms can simulate the operating environment of submarine high-speed underwater navigation,so it is of great significance.Compared with conventional underwater unmanned operation platforms,the system structure of large underwater unmanned operation platforms is complex,and the data interaction requirements between subsystems are diverse.In order to ensure that the platform can complete various established tasks,it is necessary to solve the problems of reliable information transmission and time synchronization between subsystems,and design a stable,reliable and real-time control network.The research content of this paper is as follows:First of all,this paper outlines the research background and significance,system composition and functions,research status and development trend of the real-time control network of the underwater unmanned operation platform,and provides support for the follow-up control network communication system design with high reliability and high real-time performance.Secondly,this paper analyzes the communication requirements between subsystems in detail,and designs a dual-ring network redundant Control the network architecture,and design the communication interface protocol based on this architecture.Furthermore,according to the data interaction requirements between the control units of the underwater unmanned operation platform,the underwater master control unit is designed to include two working modes of remote control and local control,and a staged dual masterslave real-time communication scheduling algorithm is adopted.The corresponding communication scheduling software is designed and implemented in the underwater the modernized structured control language(SCL).A system-wide clock synchronization scheme is designed to realize millisecond-level time synchronization among the control units of the platform.Finally,the construction of the communication test environment of the entire underwater unmanned operation platform is introduced,and the real-time performance and reliability of the control network and communication scheduling algorithm are verified through the hardware-in-the-loop experimental platform.