面向水下航行器运动控制系统的自适应中间件设计

徐 飞; 高俊钗; 雷小康

doi:10.11993/j.issn.1673-1948.2016.02.015

面向水下航行器运动控制系统的自适应中间件设计

doi: 10.11993/j.issn.1673-1948.2016.02.015

西北工业大学航海学院, 陕西西安, 710072

基金项目: 国家自然科学基金(No.50979093); 陕西省教育厅科学研究项目计划(15JK1364)

详细信息

作者简介:
徐飞(1980-), 男, 在读博士, 副教授, 研究方向为控制系统仿真、分布式系统.

中图分类号: TJ630.33; TP391
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- 文章访问数: 729
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- 被引次数: 0
出版历程
- 收稿日期: 2015-11-11
- 修回日期: 2016-01-03
- 刊出日期: 2016-04-20

Design of Adaptive Middleware of Motion Control System for Underwater Vehicle

School of Marine Science and Technology, Northwestern Polytechnical University, Xi′an 710072, China

摘要

摘要: 水下航行器运动控制系统一般采用可靠性强的分布式运动控制技术, 高实时性业务需求对通信信道的及时响应提出了较高的要求。文中基于反射技术构建了一类面向水下航行器运动控制系统的中间件, 包括构件化内核、通用总线通信适配器和上下文管理器等单元; 设计了通信策略适配器解决异构硬件平台间的通信耦合性问题。最后进行了通信资源请求可伸缩性仿真试验, 对原型系统及相关模型、通信策略适配器的可行性进行评估, 验证了文中提出的自适应中间件的有效性和扩展性, 其有助于为集成下一代水下航行器控制系统提供参考。
- 水下航行器 /
- 运动控制系统 /
- 中间件 /
- 自适应
Abstract: Underwater vehicle motion control system generally uses distributed motion control technology with high reliability, where real-time business requirements demand faster response of a communication channel. In this paper, the reflection technology is used to design a kind of middleware for underwater vehicle motion control system, including such units as a composition core, a general bus communication adapter and a context manager. A communication strategy adapter is also designed for solving the communication coupling between heterogeneous hardware platforms. In addition, a simulation experiment of communication resource request retract ability is conducted to evaluate the feasibilities of the present prototype system, the related model and the communication strategy adapter, and the effectiveness and extensibility of the proposed adaptive middleware are verified. This adaptive middleware may provide a reference for integrating next generation of underwater vehicle control system.
- underwater vehicle /
- motion control system /
- middleware /
- adaptive

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参考文献(12)

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