中文摘要：

针对无人水下航行器（UUV）推进系统搭建了Modbus通信网络,实现对航行器电力推进系统的网络控制。由于标准的Modbus通信协议具有实时性较低的问题,提出了一种具有优先级的令牌环模型,通过令牌传递的方式协调各从站并行处理数据,从而大大减少了网络通信延时。在此基础上扩展出了变权值令牌环模型,可满足应对不同工况时及时修改各从站延时的需求,并能以牺牲一定的传输实时性为代价避免处理大量数据时低优先级从站数据彻底丢包的现象出现。仿真试验验证了所提出的Modbus改进模型的有效性。

英文摘要：

A Modbus communication network is constructed for the UUV （unmanned underwater vehicle） in order to realize network control for the electric population system in the UUV. Due to the poor performance of the standard Modbus communication protocol, a token-ring model with priority is proposed. It deliveries token so as to paralleling deal with data, and it can reduce network communication delay greatly. Based on that, a weight-variable token-ring model is proposed to modify the demand of delay for different slave station in different operating condition. The model can also avoid dropping packet in the slave station with low priority while large amounts of data are processed at the cost of reducing real-time capability. The simulation tests verify the effectiveness of the proposed improved models.