摘要无人航行器是一种发展迅速的、可搭载多种科学仪器与传感器、并进行各类民事与军事任务的新型水下运动设备。由于在各类民事尤其是军事领域的广阔运用前景，无人航行器的发展受到了各国政府尤其是军队的高度重视。84418

本文将对无人航行器相关背景做适当介绍，并进行无人航行器控制系统的设计。岸基遥控系统与底层控制系统控制器均采用西门子S7-200PLC。两台PLC之间的通信依靠无线数据通讯终端实现。通信协议基于MODBUS RTU模式。岸基遥控系统扩展了一台模拟量输入模块，底层控制系统PLC扩展了两台位置控制模块。对两台PLC进行输入输出端口与编程元件地址的分配。在此基础上进行PLC外围接线图的设计。岸基遥控系统PLC的程序主要为输入继电器和输入寄存器分配保持寄存器地址，并进行MODBUS主站的设置。TD400C文本显示器的设置也在岸基遥控系统PLC程序中进行。底层控制系统PLC程序的设计要实现无人航行器主电机转速的调节与主电机转向的控制，还要实现方向舵步进电机和升降舵步进电机的控制，以实现无人航行器方向和深度的调节。除此之外，无人航行器还具有自动避障、自动航迹保持与超程保护等功能。

毕业论文关键词：无人航行器控制系统；西门子PLC；MODBUS

Abstract Unmanned Vehicle is a kind of new style underwater moving platment that has been developing rapidly and can be loaded different science equipments and sensors to execute civil or military mission。Due to the fact that Unmanned Vehicle can be widely used in civil and military field,many governments especially armies have payed great attention to it。

In this article I will do a appropriate introduction about the using-groundback of Unmanned Vehicle。And design the control system of Unmannedr Vehicle。 The controller of shore-based remote control system and the underlying control system both adopt Siemens S7-200PLC。The communication between two PLC relays on wireless data communications terminal。The communication protocol is MODBUS。PLC in shore-based remote control system connects with a analog input module and two position control modules are arranged in underlying control system。Followed by the configuration of rest hardware,and the assignment of PLC I/O ports and programming elements。On this basement,I design the external wiring diagram of PLC。Shore-based remote control system PLC program distributes the V area register address for input relay and input register and sets the master station of MODBUS。The setting of TD400C text display are also in shore-based remote control system PLC program。the design of underlying control system PLC program should achieve the goal that,the motion speed and motion direction of main motor can be controlled。The stepper motors of rudder and elevator also should be controlled so that we can control the direction and depth of Unmanned Vehicle。In addition,Unmanned Vehicle also has an automatic obstacle avoidance function,automatic track keeping function and overtravel protection function。

Keywords: Control System of Unmanned Vehicle；Simens PLC；MODBUS

目  录

第一章 绪论 1

1。1 研究的意义 1

1。2 无人艇的国内外研究现状与发展 2

1。2。1 国外UUV研究与发展现状 2

1。2。2 国内UUV研究与发展现状 2

1。2。3 水下无人航行器研究的问题 3

1。3 主要研究内容 3

第二章 无人航行器控制系统整体方案设计