Development Of Measurement And Control System For Surface Unmanned Vehicle

Under the background of economic globalization and free trade,the competition in marine protection,development and security has become increasingly fierce.As an intelligent water platform with simple operation and high intelligence,USV has been widely used in military and civil fields.However,unmanned surface vessel(USV)usually work in dangerous waters and are easily affected by coupling factors such as marine environment,which leads to accidents,and the requirements for their comprehensive performance in engineering applications are becoming more and more strict.It is of great significance to test the performance of the newly developed USV and explore its comprehensive performance.The measurement and control system matched with the test is the basis of a series of complex tests,which can provide comprehensive data support for performance evaluation.However,at present,the measurement and control system for USV test experiment is rarely developed.The development of measurement and control system is helpful to promote the research and development of higher-level USV in China and has certain engineering application value.Therefore,this paper takes a diesel-powered USV as the object to be measured and controlled,puts forward the specific functional requirements of the measurement and control system,analyzes the specific measurement and control parameters,designs the development scheme of the measurement and control system,and then develops a set of measurement and control system with good performance,which provides technical support for the subsequent performance evaluation of the USV and other related research.The main research contents of this paper are as follows:(1)The principle and method of USV test experiment are studied and analyzed,and the acquisition parameters needed for the experiment are determined.This paper analyzes the related technology and functional requirements of the measurement and control system,and divides it into monitoring,control subsystem and communication module according to the principle of system division,and then puts forward the design and development scheme of the measurement and control system.(2)According to the development scheme of measurement and control system,the hardware design,selection and construction of the system are completed.In the aspect of monitoring subsystem,the main control circuit of information acquisition control unit and the circuit from RS232 to TTL are designed.The packaging box is designed by using 3D software,and the hardware integration of the acquisition terminal is packaged.The hardware selection,data transmission format customization and program realization of communication module 1 are completed.At the same time,the program of acquisition terminal is developed.In the control system,because of hardware selection,construction and program realization,the corresponding relationship between steering,propulsion and control signals is analyzed,and the steering and propulsion control of USV is realized.In the shore-based subsystem,the mobile monitoring on the Web side is realized based on the cloud platform,and the data visualization function is realized by using Echarts and Ajax technologies.At the same time,the upper computer is developed by using Qt,My SQL and Python software.(3)The shore-based debugging and ship test of the measurement and control system are completed.The communication,data acquisition and control experiments are designed to verify the communication,monitoring and control functions of the measurement and control system.The experimental results show that all technical indicators of monitoring parameters in the design scheme of this paper meet the requirements,the success rate of long-distance communication is above 98% within 2km,the RSSI1 value is in the range of-47～-70 d Bm,the data acquisition function is normal and the accuracy can be guaranteed,the lateral and longitudinal accuracy of the system is ±0.02°rms,the wind speed is(0.2±0.02)m/s,and the heading accuracy is 0.3 degrees.