Hardware implementation of the monitoring system and control units of the robotic vehicle 'Modular controller'

摘要

The modular controller is designed for complex automation of vehicles and provides a universal interface for the integration of devices for various purposes. In the basic kit, three modules represent the modular controller: discrete inputs, DC motor control and an ultrasonic sensor controller. All modules have two types of interfaces designed to build a network: CAN (Controller Area Network) and Ethernet. This allows to successfully integrate various equipment. The paper describes the experience of designing modules of a distributed system for operation in an industrial environment. The requirements of industrial standards in the field of electromagnetic compatibility, climatic design and mechanical stability are taken into account.