Unmanned Boat Control System Design

USV, as a Marine unmanned platform, can perform a variety of scientific research and engineering tasks instead of human in the ocean, so USV has extremely extensive application prospect both in civil and military field. For an unmanned device, the control system is the core part of it. USV needs to implement autonomous navigation in the ocean which is in various change, and it puts forward higher requirements in the design of USV control system.In this paper, I designed the control system for a small-target USV built in our school.The USV control system is composed of seaborne control system, shore-based monitor system and wireless communication network. Firstly, I studied and designed the overall structure of the control system, network topology and communication protocol in this paper.And determine the function of different modules in the control system. Then made a detailed design on the seaborne control system and shore-based monitor system, and developed the corresponding control and communication softwre. Finally, the USV realizes the unmanned autonomous control by debugging the function modules and system integration. The paper mainly includes the following aspects:1) Research and design the control system's overall framework, network topology and communication protocols. Make a detailed study on the communication protocols involved in the control system, such as: serial port, NMEA0183, TCP/IP, Modbus. And then take the object-oriented method to encapsulates and use the serial class and Modbus class.2) Design the software of seaborne control system based on multi-thread technology,solve the problems of thread synchronization and communication between threads. Design the data acquisition of function modules in the seaborne control system, such as gesture,GPS, sonar and etc.3) Two kinds of wireless control schemes were designed which controlled by the interface of the monitoring software and controlled by the handle. Design automatic cruise control which is based on manual setting cruise. Using matlab tool, finished the course control simulation by put the fuzzy control theory in traditional PID control theory. And got satisfied simulation result.4) Design the shore-based monitoring software based on VC6.0(Visual C++ 6.0),which can acquire and display information such as: the position, gesture, video and thebattery management status of the USV. The USV can also realize remote control, cruise automatically according to the cruise points which are set in advance.5) Complete the module debugging and system integration testing of USV control system, and debugged the software by the debugging tools. Test the communication distance and rate of ethernet network system and wireless communication before trial trip.