中文摘要：

针对水下机器人的推进系统,设计了一种主从模式的CAN总线应用层协议,该通信协议采用轮询、命令/响应、节点控制、状态传输4种通信模式。详细介绍了CAN总线应用层协议的报文格式和通信模式设计,并将该通信协议成功的应用于水下机器人推进系统中。应用结果表明,该协议能够保证推进系统通信的实时性、可靠性,很好的满足了水下机器人推进系统的通信要求。对于CAN应用层协议在水下机器人其它方面的应用也具有一定的借鉴意义。

英文摘要：

A CAN application-layer protocol bus communication with master-slave mode is developed to the need of the propulsion systems of underwater vehicle,in which the communication is implemented in polling,the command/response as well as the node control and state transfer mode.The design of the protocol format and communication mode is described in detail and the protocol has been applied to the propulsion system of underwater vehicle successfully.The results show that the proposed application layer communication protocol can guarantee the propulsion system communication in real-time and reliability,which meet the propulsion system communication requirement very well and provide reference in the application of underwater vehicles in other aspects.