摘要：随着自动控制理论和技术的发展，很多的船舶界研究者致力于将先进的自动控制技术应用与船舶上，在无人艇上更是如此。然而在实际应用上，很多控制算法在实船上验证具有一定难度，实验成本也较高。为了更加方便快捷地验证这些控制算法，本文设计了一个硬件在环仿真系统，以便更好地验证控制算法的作用。

本文针对无人艇航行设计了硬件在环仿真系统，实现了对多种无人艇问题的监测和仿真。该系统分为上位机和下位机两个部分：上位机部分设计了一个基于VC的界面，实现了参数输入，航向预测和无人艇位置实时跟踪的功能；下位机部分采用一个STM32微控制器，在微控制器中加载控制算法，并实现与上位机通信，交换舵角航向等参数。控制算法部分我们综合风浪流等干扰因素设计了PID算法。

本文主要介绍上位机部分功能，下位机部分功能实现由另一位同学完成。在上位机部分，我们设计了一个基于对话框的仿真软件。在界面中添加模式选择、参数设置、坐标显示、通信开关等模块，最终通过无人艇路径跟踪实验验证了该仿真软件的功能。关键词：高速无人艇；PID控制；VC界面开发

Abstract：With the development of automatic control theory and technology, many ship industry researchers are committed to the application of advanced automatic control technology and ship, especially in unmanned boats. However, in practical applications, many control algorithms in the real ship to verify a certain degree of difficulty, the experimental cost is higher. In order to verify these control algorithms more conveniently and quickly, this paper designs a hardware-in-the-loop simulation system to better verify the effect of the control algorithm.

In this paper, hardware-in-the-loop simulation system is designed for unmanned sailing, and the monitoring and simulation of a variety of unmanned boats are realized. The system is pided into two parts: the host computer and the lower computer. The host computer part designs a VC-based interface, which realizes the function of parameter input, heading prediction and real-time tracking of unmanned boats. The lower part adopts a STM32 microcontroller , In the micro-controller to load the control algorithm, and to achieve communication with the host computer, switching rudder angle heading and other parameters. Control algorithm part of our integrated wind and waves and other interference factors designed PID algorithm.

This article mainly introduces the function of the host computer, the lower part of the function to achieve by another classmate. In the host computer part, we designed a dialog-based simulation software. In the interface, the module selection mode, parameter setting, coordinate display, communication switch and other modules are added. Finally, the function of the simulation software is verified by unmanned trajectory tracking experiment.

Keywords:High speed unmanned boat;STM32；VC interface development

目录

第一章：绪论 1

1.1 研究背景与意义 1

1.2国内外无人艇发展现状及发展趋势 1

1.2.1外国无人艇发展现状 1

1.2.2国内无人艇发展现状 2

1.2.3无人艇的发展趋势 3

1.3PID控制技术的发展 3

1.3.1专家PID控制 4

1.3.2模糊PID控制 4

1.3.3神经网络PID控制 4

1.4硬件在环仿真