摘要水面无人艇是自主于水面航行的一个无人化、智能化的平台。随着智能化发展趋 势，基于高性能船型的水面无人艇研制逐渐引起了国际上的高度重视。近年来，国内 外对无人艇的稳性和摇荡性能实时监控系统的关注越来越高。因此，对这个课题进行 深入的研究是十分有必要的。77328

本文设计了一艘水面无人艇，完成了模型的设计与制作、推进系统及操纵系统的 设计与安装，采用 PAC 对船模进行智能控制，完成了无人艇船模倾斜试验及水面无 人艇横摇运动衰减试验。并改编了一套基于遗传算法的水面无人艇操纵性系统辨识程 序，对所制作的水面无人艇横摇性能试验进行了系统辨识。

1。检索并阅读国内外水面无人艇技术进展现状，了解了水面无人艇稳性、摇荡性 能及相关实时监控系统发展现状；

2。进行稳性和摇荡性能实时监控系统初步设计分析并建立数学模型；

3。设计并制作了无人艇船模，参与水面无人艇模型的推进、操纵等系统的设计和 安装；

4。了解系统辨识程序，对进行实验的试验数据进行了处理与分析；

5。提出了水面无人艇稳性和摇荡性能实时监控系统初步设计分析的方案。

毕业论文关键词：水面无人艇；稳性；摇荡性能；系统辨识；实时监控

Abstract Unmanned surface vehicle is an unmanned and intelligent platform which navigate on the surface autonomously。 With the development trend of intelligence, research of unmanned surface vehicle based on high-performance ship type has gradually been highly valued by the international。 In recent years, domestic shipbuilding industry has made significant progress in stability and Swing performance real-time monitoring systems of Unmanned Surface Vehicle maneuverability。

In this paper, the author designed an unmanned surface planning boat, completed the design and fabrication of models and the design and installation of propulsion system and control system。 The model tilt test of the unmanned craft and the motion attenuation test of the surface of the water surface are completed。 Based on the genetic algorithm, a system identification procedure for the control of the water surface unmanned craft is adapted, and the system identification is carried out for the performance test of the water surface。

1。Searching and reading current situation of domestic and foreign USV technology progress, understanding the unmanned surface craft steady, swaying performance and real-time monitoring system development present situation;

2。Real-time monitoring system stability and sway performance analysis of preliminary design and mathematical model;

3。The design and manufacture of the model of unmanned craft is involved in the design and installation of the propulsion and control system;

4。To understand the system identification procedures, the experimental data were processed and analyzed;

5。The analysis of preliminary design of real-time monitoring system of unmanned surface vehicle stability and performance of the swing。

Key Words: Unmanned Surface Vehicle（USV）；stability；Swing Performance； 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 水面无人艇研究现状 1

1。3 水面无人艇稳性实时监控研究现状 2

1。4 水面无人艇摇荡性能实时监控研究现状 3

第二章 水面无人艇模型设计与制作 4

2。1 水面无人艇模型设计