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Volume 24 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2016  >  24(2): 154-160
XU Fei, GAO Jun-chai, LEI Xiao-kang. Design of Adaptive Middleware of Motion Control System for Underwater Vehicle[J]. Journal of Unmanned Undersea Systems, 2016, 24(2): 154-160. doi: 10.11993/j.issn.1673-1948.2016.02.015
Citation: XU Fei, GAO Jun-chai, LEI Xiao-kang. Design of Adaptive Middleware of Motion Control System for Underwater Vehicle[J]. Journal of Unmanned Undersea Systems, 2016, 24(2): 154-160. doi: 10.11993/j.issn.1673-1948.2016.02.015
shu

Design of Adaptive Middleware of Motion Control System for Underwater Vehicle

doi: 10.11993/j.issn.1673-1948.2016.02.015

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

  • Received Date: 2015-11-11
  • Rev Recd Date: 2016-01-03
  • Publish Date: 2016-04-20
    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.

     

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