中文摘要：

将32位ARM微处理器应用于混合驱动水下自航行器的控制系统。首先介绍了混合驱动AUV控制系统的总体体系结构。将CAN总线应用于混合驱动AUV，开发了基于CAN总线的分布式控制系统；简单介绍了以ARM7微处理器LPC2129为主控制芯片的控制系统硬件设计；制定了适用于混合驱动AUV的CAN应用层协议和相应的软件，遵照分层递阶的体系结构设计了控制系统的软件，并采取软硬件相结合的方法解决了控制系统的可靠性问题。联调实验证明该系统性能稳定、工作可靠。

英文摘要：

32-bit microprocessor ARM is used in the control system of Hybrid Autonomous Underwater Vehicle（HAUV）.The general architecture of the control system is described.CAN bus is applied to HAUV.A CAN bus based distributed control system is developed.The hardware design using ARM7 microprocessor LPC2129 as CPU is introduced briefly.The application layer protocol and corresponding software are established.The software of the control system is developed according to multi-level hierarchical architecture.The reliability of the control system is guaranteed by means of combining hardware and software.The feasibility and stability of the system has been verified by the results of examination in laboratory.