基于组合导航的水草清理作业船系统研究与设计

发布时间：2019-04-24 11:51

【摘要】：随着经济的持续发展,人们的生活水平明显提高,市场对河蟹的需求逐年增长。种草养殖的河蟹养殖塘,人力成本高,作业效率低,自动化、现代化、高效化水平明显不高。本课题设计了一种基于组合导航系统的水草清理作业船。该船基于GNSS系统和惯性导航系统的组合导航系统,利用嵌入式、LabVIEW等技术,设计并采用了航向/速度闭环控制、PID算法、循点算法等多种算法。论文的主要研究内容如下:一、设计了一种河蟹养殖用水草清理作业船,该船具有手动、遥控和自动行驶三种控制方式,并有导航系统、控制系统和上位机监控系统等子系统。采用多种适用于水草清理的机械部件,并对其进行分析。简述了船舶的整体结构和工作原理。二、设计了水草清理作业船的导航系统,该系统为组合导航系统。研究了提高定位精度的技术方案,介绍了定位、定向和测速原理,设计了基于RTK-GNSS系统和微机电惯性系统的组合导航系统。针对组合导航系统模型,采用卡尔曼滤波对组合导航信号进行滤波处理。为船舶的自动行驶奠定基础。三、设计了水草清理作业船的控制系统,该系统有手动、遥控、自动三种操作方式。针对自动行驶,设计了航向/速度闭环控制、循点算法、速度和转弯策略,采用了PID自动调节算法,设计了基于ARM11的水草清理作业船嵌入式系统,设计了其硬件、系统软件和应用软件。四、设计了水草清理作业船的上位机监控系统,该系统基于LabVIEW。可以实时监测水草清理作业船的状态和轨迹,并可以调节PID控制参数来实时改变控制效果。通过进行作业船的水草清理实验,验证了水草清理作业船的水草清理功能和其他系统功能。通过模型船实验,验证了自动导航功能。实验说明,大规模养殖环境中,高效、智能的水草清理作业船的设计方案是可行的。
[Abstract]:With the sustainable development of economy, people's living standard is obviously improved, and the market demand for crab is increasing year by year. Recommended river crab pond, high labor cost, low efficiency, automation, modernization, high efficiency level is obviously not high. In this paper, a water and grass cleaning operation ship based on integrated navigation system is designed. Based on the integrated navigation system of GNSS system and inertial navigation system, the ship designs and adopts several algorithms, such as heading / speed closed loop control, PID algorithm, point-following algorithm and so on, by using embedded and LabVIEW technologies. The main contents of this paper are as follows: 1. A water-grass cleaning ship for crab breeding is designed. The ship has three control modes: manual control, remote control and automatic driving, and there are navigation system, control system and upper computer monitoring system and other subsystems. A variety of mechanical components suitable for water and grass cleaning are used and analyzed. This paper briefly describes the whole structure and working principle of the ship. Secondly, the navigation system of the water and grass cleaning operation ship is designed, which is the integrated navigation system. This paper studies the technical scheme to improve the positioning accuracy, introduces the principles of positioning, orientation and velocity measurement, and designs an integrated navigation system based on RTK-GNSS system and micro-electro-mechanical inertial system. According to the integrated navigation system model, Kalman filter is used to filter the integrated navigation signal. Lay the foundation for the automatic running of the ship. Thirdly, the control system of water and grass cleaning operation ship is designed, which has three operation modes: manual, remote control and automatic. For automatic driving, the closed loop control of heading / speed, the algorithm of following point, the strategy of speed and turning are designed, the PID algorithm is adopted, the embedded system of water and grass cleaning ship based on ARM11 is designed, and the hardware of the system is designed. System software and application software. Fourthly, the upper computer monitoring system of water and grass cleaning ship is designed, which is based on LabVIEW.. It can monitor the status and trajectory of the water and grass cleaning ship in real time, and adjust the PID control parameters to change the control effect in real time. The water and grass cleaning function and other system functions of the water and grass cleaning ship were verified by the water and grass cleaning experiment of the working ship. Through the model ship experiment, the automatic navigation function is verified. The experiment shows that it is feasible to design an efficient and intelligent water and grass clean-up ship in large-scale culture environment.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U674.6;U666.1

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