【摘要】 采用CAN总线构建多主站的分布式控制网络,设计了基于P87C591单片机的CAN总线控制器。结合分布式控制系统在机器人控制中的典型应用,设计了CAN应用层协议和相应的通信软件。将本控制网络应用于自主研发的水下机器人,成功完成了湖试检验。更多还原

【Abstract】 CAN bus was used for constructing the distributed control net with multimaster.The controller of CAN bus using P87C591 microcontroller was designed.According to the typical application of the distributed control system in robot,the application layer protocol of CAN bus with corresponding software was presented.This control network was used in underwater vehicle which was developed by us and completes the lake trial successfully.更多还原