绿色能源无人艇主要功能系统开发及艇型优化设计分析

发布时间：2018-06-16 17:58

本文选题：绿色能源水面无人艇 + 智能控制　；参考：《江苏科技大学》2016年硕士论文

【摘要】：随着环境污染日益严重,很多国家注意到了绿色能源在船舶方面应用的巨大潜力并相继展开太阳能船舶的研究。将太阳能技术使用到无人艇应用中,在国内外尚未见报道。智能控制系统在无人艇上的使用处于发展期,传统的控制技术只能处理简单的任务,不能够满足复杂的需求。且其兼容性差,满足不了传感器的发展需求。近年来,以嵌入式控制方式为主的智能化产品广泛使用,并在各行业内取得非常优秀的成绩,因此本文提供一整套用于无人艇的嵌入式智能控制系统设计,包括:CPU选型、传感器开发、算法设计和通信协议制定等。以模型试验为辅,对开发出来的两套现代智能控制系统反复进行试验测试,并在此基础上开发出具有实际实用意义的功能,并对系统进行综合的测试。主要研究工作及分析如下:一、完成一套150W的太阳能供电系统,并能够针对不同的需求实现不同的能源输出方案;完成一套独立风帆推进系统及其控制设备系统,并能够实现推进;二、改编完成一套兼顾到太阳能方案设计的双体船优化程序,并针对本文的中所需要的一些参数进行优化,得到对太阳能双体船综合性能影响较大的船型参数;三、独立设计制作了一艘双体无人艇,并针对该无人艇进行了大量的验证性试验。同时针对无人艇的试验需求,制定了一种普适的无人艇综合性能验证试验方案,为无人艇的试验提供较为全面、可靠的方案;四、开发了一套基于51单片机的无人艇智能控制系统,并在试验中验证了该套系统的可靠性;成功的完成了一艘水面无人消防艇(中间试验艇)、一艘水面光电指引航行无人艇(中间试验艇),并能够实现若干其他功能;五、开发了一套基于STM32嵌入式现代智控系统,并在本文涉及的无人艇进行了试验,试验中使用到模糊控制等算法;同时为了无人艇开发了近30种不同功能的模块,保证了无人艇的强大功能,并针对每个模块之间的不同需求,完成了所有模块之间的融合,形成一个有机整体;六、无人艇通信技术方面引入物联网通信理念,并根据自身的试验心得和其他行业的通信协议等知识制定了一套宽泛的无人艇的通信协议,该协议具备非常好的可扩展性,同时根据不同无人艇的需求预留了相应的扩展空间,能够为无人艇协同作业提供技术支撑。
[Abstract]:With the increasing pollution of the environment, many countries have noticed the great potential of the application of green energy in the ship and the research of solar vessels. It is not reported that using solar technology to the application of unmanned craft has not been reported at home and abroad. It can handle simple tasks and can not meet the complex needs. And its compatibility is poor, it can not meet the needs of the development of sensors. In recent years, the intelligent products based on embedded control mode are widely used and achieved excellent results in various industries. Therefore, this paper provides a complete set of embedded intelligent control system for unmanned yacht. The design of the system includes: CPU selection, sensor development, algorithm design and communication protocol formulation. Based on the model test, the two sets of modern intelligent control systems are tested and tested repeatedly. On this basis, the practical and practical functions are developed and the system is tested. The main research work and analysis are carried out. The following are as follows: 1, complete a set of 150W solar power supply system, and can achieve different energy output schemes for different needs; complete a set of independent sail propulsion system and its control equipment system, and can carry out the propulsion; two, to adapt a set of optimization program for a catamaran which takes into account the solar scheme design, and aim at this article. Some parameters needed to be optimized to get the ship shape parameters which have great influence on the comprehensive performance of the solar catamaran. Three, a two body unmanned airship was designed and produced independently, and a large number of tests were carried out for the unmanned craft. At the same time, a universal testing test for the comprehensive performance of unmanned yacht was made. The testing scheme provides a more comprehensive and reliable scheme for the experiments of unmanned boats. Four, a set of intelligent control system based on 51 single-chip microcomputer was developed and the reliability of the system was verified in the experiment; a water surface unmanned fire boat (intermediate test boat) and a surface photoelectric navigation unmanned craft (intermediate test) were successfully completed. Five, a set of modern intelligent control system based on STM32 is developed, and the unmanned yacht is tested in this paper, and the fuzzy control algorithm is used in the experiment. At the same time, nearly 30 different functional blocks are developed for the unmanned yacht, which ensures the powerful function of the unmanned yacht and aims at each module. The different requirements between all modules have completed the integration of all modules to form an organic whole. Six, the unmanned yacht communication technology introduced the idea of the Internet of things communication, and made a broad unmanned yacht communication protocol based on the knowledge of its own test and other industry communication protocols. The protocol has a very good extensibility. At the same time, the corresponding expansion space is reserved according to the needs of different unmanned boats, which can provide technical support for the cooperative operation of unmanned aerial vehicles.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U662

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