Research On Unmanned Surface Vessels Architecture And Motion Control System

With the development of the world’s military technology, the unmanned trend of militaryequipment is increasely obvious.Unmanned surface vessel（sUSV）which adapt this trend has beenincreasingly more valued by the world’s major powers. This paper investigates the main modules inthe architecture of USV and focus on the detailed design of the motion control system of the USV.Firstly this paper introduces the research status of the field of the USV at home and abroad,expounds the key technologies of the USV, and analyses existing problems in domestic research. On theBasis of that this thesis sets forth the significance of this study.Based on the functional analysis of the USV, from the physical level the USV’s system componentsare analyzed and designed,USV physical architecture which is consistent with its functions isfinished.Through analyzing the relationship between the component modules,USV logical are chitectureis completed.This thesis focuses on designing of the USV’s motion control system from hardware and softwaresystems. The USV system is divided into the USV subsystems and shore-based monitoringsystem.Between the USV subsystems and shore-based monitoring system2.4G wireless bridges are usedfor communication. Water jet propulsion are adopt as the USV’s propulsion.GPS, digital compass, ARPAradar are combined to provide navigation information for the USV. PC/104IPC and STC5A60S2microcontroller are selected as the pivotal controllers for the USV subsystem. Division of labor for IPCand single-chip is discribed. Critical circuits of the USV subsystem are designed，such as nozzleangle’s feedback circuit of water jet propulsion, the feedback circuit of the engine speed and the resetcontrol circuit. With Visual C++the man-machine interface software is composed. Through thissoftware shore operators can realize remote control for the USA.Finally, parameter self-tuning fuzzy PID algorithm is used in the the simulation of the USVheading control, by using SIMULINK tool of MATLAB software. The output from the simulationcertificates the feasibility of this control algorithm using in USV’s heading control.