【摘要】 针对空间机器人星载计算机的高性能、高可靠、小质量、低功耗和低成本的要求,采用商用的现成产品(COTS)设计了一个星载计算机系统。该系统以 ARM 处理器为数据处理核心,采用双机容错结构,实现了基于现场可编程门阵列(FPGA)的硬件检错纠错技术,以及基于复杂可编程逻辑器件(CPLD)的 ARM 与 CAN 控制器之间的总线转换桥技术、多级看门狗技术和具有闩锁处理的电源等关键技术。实验结果表明该系统可满足空间机器人的需求。更多还原

【Abstract】 According to the requirements of high capability,high reliability,light weight,low power consumption and low cost for on-board computers(OBC)for space robot control,an on-board computer system was designed by using commercial off-the-shelf(COTS)devices.The dual fault tolerance architecture was introduced in the system in which the ARM(ad- vanced RISC machine)processor was regarded as the data processing kernel.The key technologies,including the error de- tection and correction(EDAC)based on the field programmable sate array(FPGA),the bridge of bus converter between ARM and CAN controller,and the multi-watch dog and power supply with latch-up handling,were realized in the OBC sys- tem.The experimental results demonstrate that the developed system can satisfy the requirements for space robot control.更多还原