Design And Implementation Of A Control System Of Unmanned Surface Vehicle

With the increasing saturation of land resources exploitation,more and more countries in the world have turned their attention to the development of marine resources,and the Unmanned Surface Vehicle(USV)has been developed rapidly as an important tool of ocean strategy.As a intelligent and unmanned water platform,the role of USV is very broad,ranging from the military field,like anti-submarine,mine,surface warfare,long-range patrol and other combat missions,to the civilian areas,like resource exploration,waterway surveying,water quality monitoring,river pipeline testing,weather forecasting and other operational tasks,all of it have fully demonstrated the USV' effect and status in the stage of modern intelligent operation.This thesis mainly designs an remote controlled/autonomous USV,and this paper is developed around the USV's control system.The control system is distributed on the bank base and the boat.The part of the bank includes the remote-controller and the carrier platform PC of the autonomous control application program and the communication equipment,and the end of the boat not only includes the hull itself,but also the equipment that are carried on the boat,just like the GPS,the INS,the radio station and other communication equipments.First of all,this paper makes an overall plan for control system of the USV by referring to the relevant literature of domestic and international USVs.According to the control requirements and purposes,the control system is divided into three aspects: control object,control mode and controller,and each aspect is studied in detail.Then,the resistance calculation of the USV is carried out based on the Fluent fluid simulation software,and the selection design of the control object and the selection of the power system are carried out by using the relationship between the resistance and the power.Then,according to the communication requirements and the autonomous navigation requirements,completing the design of communication and navigation system,and completing equipment selection and testing,then,according to the control requirements of the USV,completing the design of control system of lower computer,completing equipment selection and commissioning,and completing the design of control platform that based on the host computer.Finally,this paper has verified the integrity and reliability of the USV's communication and control by testing on shore.And through the lake experiment,the feasibility and reliability of the autonomous navigation have been checked and verified,and the process of motor selection has been proved to be reliable.