太阳能自主航行增氧船的设计与研究

发布时间：2018-03-10 18:36

本文选题：无人艇　切入点：GPS导航　出处：《安徽工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文在分析当前无人艇和增氧机发展现状的基础上,设计了一种可自主航行的太阳能增氧船,该型增氧船不仅可以增大单体增氧机的增氧范围,而且可以改善水体环境。太阳能电池板的使用解决了该型增氧船用电不便利的问题并且节能、环保和节约成本。根据设计的增氧船所要完成的功能进行相关电子模块的选择和设置,其中主要对Raspberry Pi控制模块的串口和GPS导航模块的频率及波特率等进行设置。接着通过实际检测各个模块的性能和使用要求。研究的太阳能自主航行增氧船与传统机械式增氧机的作业方式不同,该型增氧船可以自主导航增氧,因此太阳能自主航行增氧船的结构设计关系到该型增氧船能否提供足够的浮力,选择的电机能否提供足够的扭矩等。该型太阳能自主航行增氧船以双体船为船体,以水车式增氧机作为增氧装置及驱动装置。研究的无人艇按规定航迹巡航制导算法为太阳能自主航行增氧船的研究奠定控制基础。为了实现无人艇按规定航迹巡航,先对GPS采集到的数据进行提取和分析并且将经纬度坐标通过墨卡托投影转换成直角坐标,则根据航行水域环境可直接规划航行路径。根据设计要求提出了适合本文无人艇的直线制导算法和转弯制导算法。基于无人艇按规定航迹巡航制导算法研究的基础,提出适合本文设计的太阳能自主航行增氧船的两种控制算法。控制算法一:漫巡航增氧即太阳能自主航行增氧船的航行不需要规划航迹且检测到障碍物可转向,具体的运动方式为:增氧船能沿着某一方向保持直线行驶且遇到障碍物转弯,转弯完成后再沿着某一方向直线行驶;控制算法二:太阳能自主航行增氧船按规定航迹巡航增氧。最后本文以设计的增氧船为原型组建了一艘增氧样船,该增氧样船在控制算法下能够实现自主航行。设计的增氧船虽然实现了自主航行控制的要求同时也能够体现出增氧的功能,但是该型增氧船在小水域中明轮转速改变较频繁,因此在小水域中增氧效果相对大水域较弱。针对小水域增氧效果减弱问题,设计了一种通过舵机控制航向的舵机增氧船,该型增氧船的明轮转速始终保持最大转速来保证增氧效果。
[Abstract]:Based on the analysis of the current development of unmanned craft and oxygenator, this paper designs a solar oxygen-enhancing ship which can sail independently. The oxygen-increasing vessel can not only increase the oxygen-increasing range of single oxygenator, but also increase the oxygen-increasing range. And it can improve the water environment. The use of solar panels has solved the problem of inconveniences in the use of electricity for this type of oxygen-enhancing ship and saved energy. Environmental protection and cost saving. According to the functions of the designed oxygen-increasing ship, the selection and setting of related electronic modules are carried out. The frequency and baud rate of the serial port and GPS navigation module of Raspberry Pi control module are mainly set. Then, the performance and application requirements of each module are tested. Mechanical oxygenator operates in different ways, This type of oxygenator can be independently navigated to increase oxygen, so the structure design of the solar independent navigation oxygenator is related to whether the type of oxygenator can provide sufficient buoyancy. Whether the selected motor can provide sufficient torque and so on. This type of solar autonomous navigation oxygenator ships with catamaran as the hull, The waterwheel oxygenator is used as the oxygen-increasing device and the driving device. The cruise guidance algorithm of the unmanned craft according to the prescribed track lays the control foundation for the research of the solar autonomous oxygen-increasing ship. In order to realize the unmanned boat cruising according to the prescribed track, Firstly, the data collected by GPS are extracted and analyzed, and the longitude and latitude coordinates are transformed into Cartesian coordinates through Mercator projection. According to the navigation environment, the navigation path can be directly planned. According to the design requirements, a linear guidance algorithm and a turn guidance algorithm are proposed for the unmanned craft in this paper. In this paper, two control algorithms for solar autonomous navigation oxygenator are proposed. The control algorithms are as follows: first, the cruise oxygen-increasing ship does not need to plan the track and detect obstacles to turn. The specific motion methods are as follows: the oxygen-increasing ship can keep a straight line along a certain direction and meet with obstacles to turn, and then follow a straight line after the completion of the turn; Control algorithm two: the solar independent navigation oxygen-enhancing ship cruises to increase oxygen according to the prescribed track. Finally, a oxygen-enhancing sample ship is constructed based on the designed oxygen-enhancing vessel. The oxygen-increasing vessel can sail independently under the control algorithm. Although the designed oxygen-increasing vessel can fulfill the requirements of autonomous navigation control and embody the function of oxygen-increasing, the speed of the open wheel of this type of oxygen-increasing vessel changes frequently in small waters. Therefore, the oxygen-increasing effect in small water area is weaker than that in large water area. Aiming at the problem of weakening oxygen-increasing effect in small water area, a steering gear oxygen-increasing ship controlled by steering gear is designed. The open wheel speed of this type oxygenator always keeps maximum speed to ensure the oxygenation effect.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S969.323

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