【摘 要】
：
The control architectures of "SY-2" Remote Operated Vehicle (ROV) are introduced. Both hardware architecture and software architecture are discussed. PC/104 emb
【机 构】
：
College of Shipbuilding Engineering
【基金项目】
：
国家自然科学基金;the Heilongjiang Province Postdoctoral Foundation;the Fundamental Research Foandation of Harbin Engineering University;the China Postdoctoral Science Foundation
论文部分内容阅读
The control architectures of "SY-2" Remote Operated Vehicle (ROV) are introduced. Both hardware architecture and software architecture are discussed. PC/104 embedded computer is used to control equipment for collecting sensor data and sending control commands. PC/104 embedded computer is integrated with A/D, D/A, 8 serial ports card and power supply unit. The surface computer is a X86PC. They transfer data through a fiber line. For software, real-time OS VxWorks is embedded in PC/104. A/D, D/A and serial ports operation are based on VxWorks OS, which increase the real-time quality of control system. Surface computer is the center of motion control and data processing. It is communicated with underwater PC/104 by socket. The whole system has been tested both on land and in tank.
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