随着4G/5G移动通信技术被应用于无人机指挥控制(Command and Control,C2)链路,此类链路因安全保护机制不足而面临日益严峻的安全威胁。针对4G/5G无人机C2链路完整性保护缺失的弱点,在实验室环境下完成了4G/5G无人机C2链路指令篡改攻击...随着4G/5G移动通信技术被应用于无人机指挥控制(Command and Control,C2)链路,此类链路因安全保护机制不足而面临日益严峻的安全威胁。针对4G/5G无人机C2链路完整性保护缺失的弱点,在实验室环境下完成了4G/5G无人机C2链路指令篡改攻击验证实验。为了应对该威胁,提出了基于高性能认证加密的C2链路数据防护方案,并在飞腾E2000Q嵌入式环境下完成了与现有商用EEA3+EIA3组合方案的对比测试和分析。所提方案在保证安全性的同时具有更好的性能表现。展开更多
To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
文摘随着4G/5G移动通信技术被应用于无人机指挥控制(Command and Control,C2)链路,此类链路因安全保护机制不足而面临日益严峻的安全威胁。针对4G/5G无人机C2链路完整性保护缺失的弱点,在实验室环境下完成了4G/5G无人机C2链路指令篡改攻击验证实验。为了应对该威胁,提出了基于高性能认证加密的C2链路数据防护方案,并在飞腾E2000Q嵌入式环境下完成了与现有商用EEA3+EIA3组合方案的对比测试和分析。所提方案在保证安全性的同时具有更好的性能表现。
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
