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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