Preliminary Study On The Design Of Real Time Monitoring System Of Motion Mode For Unmanned Surface Vehicle

The great potential of USV makes many countries’ research on USV increasingly hot.In a highly dynamic and unpredictable ocean environment,it is very necessary to monitor the motion mode of USV in real time to improve the security of USV and the reliability of the execution task.The concept of real-time monitoring system of USV motion mode is proposed in this paper.Many software and hardware are organic combined to design a USV motion mode real-time monitoring system which could monitor the stability,speed and powering,maneuverability and seakeeping of USV in real time.A new type of water surface with anti-splash sheet bodies is designed and produced,and every real-time monitoring subsystems and general system are validated by a series of tests.The system success criteria is formulated according to the design ideas of the real-time monitoring system.Combined with the specific situation of the test and the criteria,the real-time monitoring system of USV’s motion mode is successful.Specific work is as follows:(1)Making argument about the real-time monitoring system construction related method,principle,hardware instrument and necessary condition by marketing investigation and a massive of literature search.The results show that the USV motion mode real-time monitoring system designed in this paper is correct and feasible.(2)Introducing the selection basis and innovative design of the new type of USV and building it,providing the detailed design and calculation process of the propulsion system and control system and determining the appropriate host,shaft,propeller,rudder force and actuator.(3)Constructing the hardware system of the USV’s motion mode real-time monitoring system.Using PAC as the core controller.The navigation and positioning system is composed of DGPS and three dimensional electronic compass.The attitude measurement system consists of a laser range finder,a micro inertial navigation system and a MTi attitude measuring instrument.Transmitting data by using wireless data transmission radio.The energy system mainly uses 24 V storage battery and transformers and 1.5V5# battery pack.Data analysis system uses PC computer.The working principle of various types of equipment and sensors has been elaborated clearly.By repeated testing,this hardware system can meet the demand.(4)Constructing the software system of the USV’s motion mode real-time monitoringsystem,which includes building USV stability,speed and powering,maneuverability and seakeeping mathematical models,determining the speed and powering,maneuverability and seakeeping performance study of system identification models based on genetic algorithm and adapting it by using VB 6.0 language,and writing programs like the motion control,data acquisition and data transmission by using VB.NET language.The real-time monitoring system of USV motion mode is verified by experiments.After the USV equipments are fixed,its weight center of gravity would not change in the course of navigation so that the initial metacentric height would not change.Therefore,the real-time monitoring of the USV stability performance takes the tilt test results as a reference.In the paper,the initial metacentric height is calculated by the tilt test.By conducting the stability,speed and powering,maneuverability and seakeeping of USV each real-time monitoring subsystem tests,it verifies that these subsystems are functioning properly.Finally by simulating the conditions that the USV may occur during the task execution,the experimental verification of real-time monitoring system for USV motion mode is carried out.The experimental result shows that the real-time monitoring system of USV’s motion mode is successful.