基于网络控制系统的水下航行器制导系统结构

研究基于网络控制原理的水下航行器制导系统结构，详细分析了基于时间触发的TFCAN高层协议在水下航行器网络控制系统中的应用；针对目前水下航行器制导系统的控制现状，提出基于NCS的水下航行器制导系统一般性结构和设计方法，有效地解决了水下航行器制导系统中信息传送的实时性和信息共享性问题，同时论证了水下航行器网络控制系统中影响其系统稳定性的时延问题：论文旨在通过对水下航行器网络控制系统结构的研究，指出其结构的意义和进一步的研究领域。

Framework of AUV Guidance System Based on Networked Control Systems

The Networked Control Systems (NCS) of AUV guidance system based on the networked control principle is studied. The time-triggered controller area network (TTCAN) protocol applied in AUV guidance system is also analyzed. Concerning the actuality of AUV guidance system presently, the framework of AUV guidance system based on NCS is put forward. This structure not only solves the real-time of information transmission of AUV guidance system, but also realizes availably the resource shared. The stability of some network factors to the NCS of AUV guidance system such as network-induced delay is studied. The significance of the framework of AUV guidance system is pointed out based on NCS, moreover the field of further research is also indicated.