论文总字数：22644字

目 录

1绪论 1

1.1 课题提出的研究背景，目的和意义 1

1.2无人船的发展现状 1

1.2.1无人船的国内、外发展现状 1

1.2.2 自主巡航的发展现状 2

1.3 本论文的研究内容 4

1.4章节介绍 4

2 .无人船控制系统的总体方案设计与介绍 6

2.1基于单片机的控制系统的特点 6

2.2基于STM32的无人船自主巡航控制系统总体方案设计 6

2.3 本章小结 7

3无人船控制系统的硬件结构设计 8

3.1 主控CPU的选型与设计 8

3.1.1 STM32单片机与51单片机的对比 8

3.1.2 STM32单片机与MSP430系列单片机对比 8

3.1.3单片机STM32与AVR单片机的比较 8

3.2主控CPU外部引脚介绍 8

3.3 坐标位置获取模块 10

3.3.1电子罗盘的选型 10

3.3.2 GY-271 HMC5883L的引脚功能 11

3.4自主巡航控制系统电路设计 12

3.4.1主控制器的介绍 12

3.4.2 坐标采集电子罗盘板块电路设计 13

3.5 本章小结 13

4 无人船的软件系统设计 14

4.1无人船自主巡航系统软件设计整体思路 14

4.2 主控STM32算法设计 14

4.2.1自主巡航控制系统算法PID介绍 14

4.2.2位置式PID和增量式PID的对比 18

4.2.3 增量式PID控制算法 18

4.3增量式PID算法的整定 19

4.3.1PID参数整定 19

4.3.2 增量式PID的MATLAB仿真 19

4.3.3系统输出PWM波控制电机 22

4.4坐标采集子程序设计 23

4.4.1通信方式IIC 24

4.4.2磁偏角和方位公式 25

4.5 本章小结 27

5系统安装与调试 28

5.1实验准备工作 28

5.2无人船的结构组装调试步骤 28

5.3 无人船自主巡航控制系统实现效果及分析 28

5.4 本章小结 29

6 总结与展望 30

6.1 设计过程的总结和展望 30

参考文献 32

致 谢 33

基于STM32的气象探测无人船自主巡航控制系统设计

刘宝莹

,China

Abstract:

Intelligence has always been the trend of ship development. This topic is based on STM32 meteorological detection unmanned ship autonomous cruise control system design. Through the research on this subject, the algorithm design of unmanned ship tracing navigation is completed, and the single-target cruise and unmanned target cruise of the unmanned ship are realized.

Firstly, the status quo of development of unmanned ships at home and abroad as well as the development and status quo of ship motion control strategies are investigated, and the background, research significance, and advantages and disadvantages of the unmanned ships are analyzed in detail. Then, clarify the requirements and characteristics of autonomous navigation, design the initial autonomous navigation control unit program, and understand and compare the existing tracking algorithms. Finally, according to the characteristics of the unmanned ship, the tracking algorithm is designed to meet the unmanned ship, complete the algorithm flow chart design, and complete the simulation of the tracking algorithm. Understand the operating principles and control methods of the electronic compass, familiarize with the STM32 embedded development method, master the control method and principle of the SCM on unmanned ships, write the unmanned ship tracking program, and finally comprehensively debug to realize the autonomous cruising of unmanned ships.

Key words:Unmanned ship; autonomous cruise; STM32; PID

1绪论

1.1 课题提出的研究背景，目的和意义

社会进步,人工智能的出现也带来了很多方便和安全。这也顺应着时代的发展，跟上科技发展潮流。无人船的发展也到了这一步，在水上这个高危的工作环境里面，无时无刻不会面临着各种危险，此时如果能够用自主巡航的无人船去测量，去工作，不仅会减少测量人员的安全，还能高效的完成任务[1]。

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