TRANSACTIONS OF THE KRYLOV STATE RESEARCH CENTRE

Science journal

 
ISSN (print) 2542-2324 /(online) 2618-8244


Articles of The Transactions of KSRC








Specifics of software/hardware implementation of computer control system for small-size autonomous underwater vehicles.



Full text article ( in russian)

Year

 
2018

Issue

 
20181

Volume

 
1

Pages

 
191-197

Caption

 
Specifics of software/hardware implementation of computer control system for small-size autonomous underwater vehicles.

Authors

 
Umanskii A., Yatsuk G., Ananyin A

Keywords

 
computer system, control, reliability, software

DOI

 
10.24937/2542-2324-2018-1-S-I-191-197

Summary

 
The paper deals with the issues related to software & hardware implementation of digital control system for a small-size underwater vehicle supporting reliable operation and sustained functional performance in case of a potential failure during long-term autonomous operation. A weight & size minimization approach is considered based on the point-to-point architecture using the two-out-of-three voting principle at software level. A miniature three-channel computer control system is developed. Each channel comprises a processor, ROM, RAM, and FPLD. The channels are linked by a serial interface. Interaction with peripherals is done via standard duplicate interfaces linked directly to the processor or FPLD. The software is implemented on a compact real-time operating system. Each channel has a number of control flows, including background ROM scanning to detect malfunctions and correct errors independently from standard algorithms. The three-channel architecture featuring point-to-point links between channels and duplicate interaction with external systems provides required level of reliability and survivability for long-term autonomous operation. The built-in system of program tools for control, correction of errors and restoration of functions supports reliable operation of the system even in case of short-term one-time errors. It enables the control computer not only to handle all multiple tasks of AUVs but also to ensure excellent level of the control system survivability under unfavourable external effects.

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