嵌入式ARM在基于以太网的AUV控制系统中的应用

摘要

提出了一种基于星型以太网拓扑的水下自主航行器（AUV）分布式控制系统体系结构,并开发了以嵌入式ARM处理器为核心的运动控制单元。首先介绍了系统总体结构及各节点单元的功能,然后介绍了以ARM7处理器LPC2292为核心的运动控制单元硬件设计。选用以太网控制器CS8900A作为该单元网络通讯硬件,设计了其与ARM的接口电路。编写了硬件驱动以及网络通讯相关软件。实验证明在该处理器平台上成功实现了网络通讯及嵌入式WEB服务器的构建,因其良好的交互性,方便了前期的调试和日后的维护。%A kind of AUV （Autonomous Underwater Vehicle） distributed control system architecture based on Ethernet star topology is proposed, and also a design of its motion control unit is developed based on embedded ARM processor. First, the overall system structure and the function of its node units was introduced, and then the hardware design of the motion control unit based on ARM7 LPC2292 was explained. Ethernet controller CS8900A was used as the network communication hardware, and its interface circuit with ARM was designed. The program of its hardware driver and network communication was completed. Experiments showed that communication and a embedded web server are realized successfully on this processor platform, which can facilitate early debugging and future maintenance on account of its good interactivity.