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摘要 近年来，水面无人艇的发展受到越来越多的关注，与其相关的研究方向越来越热门。本文查阅相关文献资料对国内外近10 年来水面无人艇的发展状况以及无人艇快速性操纵性研究状况进行了文献综述， 同时对国内外关于实时监控系统在船舶领域的研究现状进行了简述，进而提出了一种水面无人艇快速性和操纵性的实时监测系统的初步设计。本文主要成果如下： （1）提出了水面无人艇实时监测系统的构想，阐述了该系统研究的实际意义，初步设计了无人艇实时监测系统的快速性操纵性实验方案； （2）查阅相关资料并建立了水面无人艇实时监测系统的快速性和操纵性数学模型，选定了目标函数用于系统辨识； （3） 以 S175 为母型船设计制作了船模并进行了无人艇快速性和操纵性实时监测的试验，采集了相关试验数据； （4）基于遗传算法对试验数据进行了回转性能的系统辨识，并对辨识结果进行初步分析； （5）最后对水面无人艇实时监测系统提出了更进一步的发展希望。 58410
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毕业论文关键词：水面无人艇；快速性；操纵性；船模试验；系统辨识；实时监测
Abstract In recent years, the development of unmanned surface vessel has attracted more and more attention and the research trend on USV is more and more popular. The paper consults some related literature and takes a literature review for the past 10 years’ the development status of USV and rapidity and maneuverability of USV and the research actuality about real-time monitoring system in the field of ship is also briefly described in the paper. The paper puts forward the preliminary design and analysis of a real-time monitoring system about USV’ rapidity and maneuverability and obtains results as followed: (1)The paper puts forward the thinking of a real-time monitoring system of USV and expound the practical significance of the system.Experiments of real-time monitoring system about USV’ rapidity and maneuverability are also designed. (2) The paper consult some related literature and established a mathematical model of real-time monitoring system about unmanned surface vessel’s rapidity and maneuverability and selected objective function for system identification. (3)designed the ship model USV with S175 as the parent ship and test rapidity and maneuverability of the real-time monitoring system and collected relevant data. (4) The test data of the rotation performance is identified based on genetic algorithm and the identification results were analyzed preliminarily. (5)The paper put forward hope for the further development of the real-time monitoring system for USV in the end.
Key Words: Unmanned Surface Vessel（USV）; Rapidity; Maneuverability; Ship Model Test; System Identification；Real-time monitoring
目录
第一章绪论1
1.1研究的目的和意义.1
1.2国内外研究现状.2
1.2.1水面无人艇的简介2
1.2.2水面无人艇快速性和操纵性研究现状4
1.2.3实时监控系统在船舶应用中的研究现状5
第二章水面无人艇模型设计与制作6
2.1模型制作6
2.1.1模型制作过程6
2.1.2模型水密性试验.7
2.2船模推进系统设计与安装8
2.2.1螺旋桨及主机的选型8
2.2.2推进系统的安装和调试.12
2.3船模控制系统设计与安装14
2.3.1PAC核心控制器14
2.3.2操纵系统设计与安装15
第三章基于遗传算法的系统辨识原理17
3.1遗传算法17
3.1.1遗传算法简介17
3.1.2遗传算法优点18
3.1.3遗传算法计算步骤流程19
3.2系统辨识原理19
3.2.1系统辨识的简介.19
3.2.2系统辨识的原理与过程.20
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