本文以CAN-Bus 通訊為骨幹,建置無人載具之分散式單晶片通訊系統,系統中將感測元件依其用途及功能區分後以模組化之觀念設計,使得在系統開發過程中對程式撰寫及電路設計帶來許多方便性。並且在以CAN-Bus作為通訊介面之分散式控制架構下,讓系統兼具高擴充性。在100Hz系統控制頻率設定下,子系統擷取各類感測器資料,再透過CAN-Bus 上傳到主控制器,將接收之感測值透過資料處理及匯整後,再經由適當的控制運算,最後下達控制命令給伺服控制元件,控制載具的運動姿態。同時將所有感測元件資料透過無線網路方式下傳到地面監控站,作為紀錄及監控載具狀況之用。因為模組化的設計,此架構可簡化系統軟體開發與維護上的複雜度。並且只要修改主控制器之控制法則後,此航電系統可以運用到各種無人載具的應用上,是一套多用途之無人載具航電系統。
The electronic system of unmanned vehicles consists of many sensors and actuators, in which the tasks can not be processed by a single processor and have to be handled by a distributed architecture to meet the performance requirements of the system. The present paper has adopted the CAN-Bus communication protocol to implement a distributed system, in which a group of microprocessors will sense and process signals from individual sensors and transmit data needed to the central controller. The central controller will then process the received data through control algorithm and output the command to the actuators via the same CAN-Bus communication system. The data transmitted in the network can also be downlinked to the remote base station for data recording and monitoring. With the distributed architecture, all the sensors and actuators can be implemented as modules to simplify the developing time and cost, as well as the maintenance. The distributed electronic system developed in this study can also be applied to various types of unmanned vehicles.