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针对水下机器人(ROV,Remotely operated vehicle)在海洋中复杂、高难度环境下作业的特点,研究了一套基于Vx Works实时操作系统的水下机器人控制系统软件,实现了各模块设备之间的实时通信与实时调度。首先对ROV控制系统的体系结构和组成进行了研究,分析了各设备的作用与功能;其次选取了Vx Works操作系统作为主控系统,并介绍了其开发流程,保证了系统的实时性与稳定性;最后根据ROV的需求,设计了控制系统软件的总体结构,给出了作业的基本流程图。
Aiming at the characteristics of ROV (Remotely operated vehicle) working in complex and difficult environment in the ocean, a set of underwater robot control system software based on Vx Works real-time operating system is studied, Real-time communication and real-time scheduling. Firstly, the architecture and composition of ROV control system are studied, and the functions and functions of each device are analyzed. Secondly, the Vx Works operating system is selected as the main control system, and its development process is introduced to ensure the system’s real-time and stability Finally, according to the demand of ROV, the overall structure of control system software is designed and the basic flow chart of operation is given.