摘要：近些年来，国内外对无人艇（USV）的研究越来越重视，但是无人艇的动态过程具有很多的不稳定因素，它会受到航速，风速，水深，载重，海流等不定因素影响，模型也会受到干扰而产生不确定性。针对于此，本文设计了一套无人艇运动控制系统，对基于STM32的无人艇运动控制硬件在环仿真系统进行了研究。

系统包括上位机和下位机，本文主要负责下位机的设计即硬件部分，主要包括下位机硬件的搭建和软件的设计，以及和上位机的串口通信设计。

下位机主要由三个模块构成：供电模块、舵机模块和舵机反馈模块。在接受到上位机发送来的航向、航速和位置等参数之后，利用卡尔曼滤波和PID控制算法进行解算，得到无人艇的实时航向和轨迹，并通过串口通信反馈给上位机，以此来实现硬件在环仿真。

最后对所设计的仿真系统进行了测试与分析,根据无人艇运动仿真系统界面显示的船舶航迹、航向等状态监测曲线结果,表明本文设计的仿真系统性能良好,达到了系统设计目的。

关键词：无人艇；硬件在环仿真；STM32；卡尔曼滤波；PID控制算法

Abstract：In recent years, domestic and foreign research on Unmanned Surface Vessel(USV) has become more and more important, but the dynamic process of unmanned boats has many unstable factors, it will be the speed, wind speed, water depth, load, current and other uncertain factors , The model will be disturbed and produce uncertainty. In view of this, this paper designed a set of unmanned motion control system, based on STM32 unmanned yacht motion control hardware in the ring simulation system were studied.

The system includes the host computer and the lower computer, this paper is mainly responsible for the design of the next bit of the hardware part, including the  lower computer hardware structures and software design, and the host computer serial communication design.

The lower computer consists of three modules: the power supply module, the steering gear module and the steering gear feedback module. After receiving the parameters such as heading, speed and position sent by the host computer, the Kalman filter and the PID control algorithm are used to solve the real-time heading and trajectory of the unmanned boat and feedback to the host computer through the serial communication. To achieve hardware-in-the-loop simulation.

Finally, the simulation system has been designed test and analysis, according to the state monitoring curve results Itineraries unmanned boat motion simulation system interface displays, and the like heading, indicating good performance simulation system designed in this paper, the system is designed to achieve.

Keywords: Unmanned Surface Vessel; Hardware-in-the-loop simulation; STM32; Kalman filter；PID control algorithm

目录

第一章绪论 1

1.1课题背景及研究意义 1

1.2国内外研究现状 2

1.2.1无人艇 2

1.2.2无人艇运动控制器 4

1.2.3航向控制 4

1.3论文结构 5

第二章无人艇运动数学模型 6

2.1船舶运动数学模型的建立 6

2.1.1无人艇运动坐标系的建立 6

2.1.2自由度的简化 7

2.1.3状态空间型船舶运动非线性数学模型 8

2.2干扰数学模型 9