本文選題：綠色能源水面無人艇 + 智能控制��； 參考：《江蘇科技大學(xué)》2016年碩士論文

【摘要】：隨著環(huán)境污染日益嚴(yán)重,很多國家注意到了綠色能源在船舶方面應(yīng)用的巨大潛力并相繼展開太陽能船舶的研究。將太陽能技術(shù)使用到無人艇應(yīng)用中,在國內(nèi)外尚未見報道。智能控制系統(tǒng)在無人艇上的使用處于發(fā)展期,傳統(tǒng)的控制技術(shù)只能處理簡單的任務(wù),不能夠滿足復(fù)雜的需求。且其兼容性差,滿足不了傳感器的發(fā)展需求。近年來,以嵌入式控制方式為主的智能化產(chǎn)品廣泛使用,并在各行業(yè)內(nèi)取得非常優(yōu)秀的成績,因此本文提供一整套用于無人艇的嵌入式智能控制系統(tǒng)設(shè)計,包括:CPU選型、傳感器開發(fā)、算法設(shè)計和通信協(xié)議制定等。以模型試驗為輔,對開發(fā)出來的兩套現(xiàn)代智能控制系統(tǒng)反復(fù)進(jìn)行試驗測試,并在此基礎(chǔ)上開發(fā)出具有實際實用意義的功能,并對系統(tǒng)進(jìn)行綜合的測試。主要研究工作及分析如下:一、完成一套150W的太陽能供電系統(tǒng),并能夠針對不同的需求實現(xiàn)不同的能源輸出方案;完成一套獨立風(fēng)帆推進(jìn)系統(tǒng)及其控制設(shè)備系統(tǒng),并能夠?qū)崿F(xiàn)推進(jìn);二、改編完成一套兼顧到太陽能方案設(shè)計的雙體船優(yōu)化程序,并針對本文的中所需要的一些參數(shù)進(jìn)行優(yōu)化,得到對太陽能雙體船綜合性能影響較大的船型參數(shù);三、獨立設(shè)計制作了一艘雙體無人艇,并針對該無人艇進(jìn)行了大量的驗證性試驗。同時針對無人艇的試驗需求,制定了一種普適的無人艇綜合性能驗證試驗方案,為無人艇的試驗提供較為全面、可靠的方案;四、開發(fā)了一套基于51單片機(jī)的無人艇智能控制系統(tǒng),并在試驗中驗證了該套系統(tǒng)的可靠性;成功的完成了一艘水面無人消防艇(中間試驗艇)、一艘水面光電指引航行無人艇(中間試驗艇),并能夠?qū)崿F(xiàn)若干其他功能;五、開發(fā)了一套基于STM32嵌入式現(xiàn)代智控系統(tǒng),并在本文涉及的無人艇進(jìn)行了試驗,試驗中使用到模糊控制等算法;同時為了無人艇開發(fā)了近30種不同功能的模塊,保證了無人艇的強(qiáng)大功能,并針對每個模塊之間的不同需求,完成了所有模塊之間的融合,形成一個有機(jī)整體;六、無人艇通信技術(shù)方面引入物聯(lián)網(wǎng)通信理念,并根據(jù)自身的試驗心得和其他行業(yè)的通信協(xié)議等知識制定了一套寬泛的無人艇的通信協(xié)議,該協(xié)議具備非常好的可擴(kuò)展性,同時根據(jù)不同無人艇的需求預(yù)留了相應(yīng)的擴(kuò)展空間,能夠為無人艇協(xié)同作業(yè)提供技術(shù)支撐。
[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.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：U662

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