According to the demand of the new style underwater long flexible bio-propulsor experimental model, a multi-layer structure distributed measurement and control system is designed and realized.

• 摘要针对新型柔性长鳍仿生推进器试验装置的控制节点多、实时性强、传感数据量大的要求，设汁并实现了基于CAN总线的多层分布式测控系统；