无人自主水面船控制系统设计

本科毕业设计论文I摘要随着船舶自动化技术的发展以及以美国为首的西方国家对无人水面船的关注，无人自主水面船技术得到了迅猛发展，目前国内外已有多种无人自主水面船被应用于军事和民用领域。无人自主水面船最为关键的技术之一就是控制系统，控制系统的实时性和稳定性直接决定着其整体性能。本文以PC机为硬件平台，VisualC++6.0为软件平台开发了无人自主水面船岸上控制系统软件，并完成了系统的调试，主要完成工作有：首先，介绍了无人自主水面船的运动学和动力学模型。根据无人自主水面船的任务功能，完成了其控制系统的硬件设计，其主要由PC104工控机、PHINS、GPS接收机、推力电机、调速模块、无线串口通讯模块以及岸上的PC机组成。其次，以VisualC++6.0为软件平台开发了无人自主水面船岸上控制系统软件，包括用户界面的创建和功能模块的实现。其中的功能模块具体包括串口通信模块、航行任务设定模块、监控信息处理模块、控制指令解算模块以及控制信息发送模块。在完成软件设计之后分析了无人自主水面船与岸上部分的通信方式。最后，完成了无人自主水面船控制系统主要模块的功能测试试验，并进行了系统硬件的联调。关键词：无人自主水面船，VisualC++，串口通信本科毕业设计论文IIABSTRACTAstheautomationtechnologyofshipaswellastheUS-ledWesterncountriesconcernedabouttheUnmannedAutonomousSurfaceVehicles(UASVs),thetechnologiesoftheUASVshasbeenrapiddevelopment.Presentlytherehasbeenavarietyofautonomoussurfacevesselswereusedinthefieldofmilitaryandcivilian.ThecontrolsystemisoneofthemostcriticaltechnologiesofUASVs,Thereal-timeandstabilityofthecontrolsystemadirectlydetermineitsoverallperformance.Inthispaper,withPCasthehardwareplatformandVisualC++6.0asthesoftwareplatform,itdevelopstheUASVsgroundcontrolsystemsoftware,andcompletesthecommissioningofthesystem,Themaintasksinthispaperare:First,itdevisesthekinematicanddynamicmodelsoftheUASVs.AccordingtothetaskoftheUASVs,itcompletesthedesignofcontrolsystemhardwarewhatmainlyincludesthePC104industrialcomputer,PHINS,GPSreceiver,thrustmotor,speedcontrolmodule,wirelessserialcommunicationmoduleandthegroundPCmachine.Secondly,withtheVisualC++6.0asthesoftwareplatform,itdevelopstheUASVsgroundcontrolsystemsoftwarewhatincludestheuserinterfacecreationandimplementationoffunctionalmodules.Thefunctionalmodulesincludetheserialcommunicationmodule,navigationmodulesettasks,monitorinformationprocessingmodules,controlinstructionsandcontrolinformationcalculatingmoduletosendthemodule.Aftercompletingthesoftwaredesigning,itanalysisthecommunicationofunmannedshipandgroundstation.Finally,itcompletestestsofeachfunctionmoduleofthecontrolsystemoftheUASVsandthecommissioningofthesystem.KEYWORDS：theUASVs,VisualC++,serialcommunication本科毕业设计论文III目录摘要.............................................................................................................................IABSTRACT.................................................................................................................II第一章绪论...............................................................................................................11.1论文的研究背景和意义....................................................................................11.2国内外无人水面船研究与应用现状................................................................11.2.1国外无人水面船的研究现状.............................................................11.2.2国内无人船的研究现状.....................................................................21.3VISUALC++6.0开发环境简介.........................................................................21.3.1VisualC++6.0开发工具概述...........................................................21.3.2VisualC++6.0主要功能特点...........................................................31.3.3VisualC++6.0主框架窗口...............................................................41.4MFC类库简介..................................................................................................51.5论文的主要研究内容和结构安排.....................................................................6第二章无人自主水面船运动的数学模型...............................................................72.1引言.....................................................................................................................72.2坐标系及符号.....................................................................................................72.2.1坐标系的选择与定义.........................................................................72.2.2参数符号定义.....................................................................................72.3运动学模型.........................................................................................................82.4动力学模型.........................................................................................................92.5水平面运动方程...............................................................................................102.6本章小结...........................................................................................................11第三章无人自主水面船硬件控制系统设计.........................................................123.1引言..................................................................................................................123.2无人自主水面船控制系统组成及工作原理..................................................123.2.1无人自主水面船控制系统总体方案设计.......................................123.2.2无人自主水面船控制系统工作原理...............................................13本科毕业设计论文IV3.3无人自主水面船控制系统硬件设计..............................................................143.3.1船上控制系统硬件设计...................................................................143.3.2岸上控制系统硬件设计...................................................................173.3.3RS-232C串口标准............................................................................173.4本章小结.......