摘要：我国对于海洋经济的重视程度不断提高，在发展的同时，蓝色海洋始终伴随着日趋严重的污染。在形形色色水域污染背后，进行水域提早监测，及早治理成为了科研人员们重中之重的课题，这也是此次毕业设计的出发点。我们提出了将无人艇与水域监测结合，旨在设计出一套具备在开阔水域进行水域监测并将数据实时传回能力的水域监测系统。从无人艇的选型设计开始，完成无人艇模型的设计与制作、推进系统、操作系统及控制系统的设计及安装，选择了STM32作为核心控制器的智能控制系统，并对该水域监测无人艇的性能及主要功能进行试验研究，不断优化，主要工作如下：

首先，结合其他资料与高性能船舶的优点进行了选型分析，确定了本水域监测无人艇采用双体船的艇型，同时对目标无人艇进行了总体设计，确定了主尺度和螺旋桨，还完成了外观设计、型线设计及总布置设计。

其次，在完成无人艇模型制作之后，紧接着进行了推进系统、操作系统及控制系统等核心部件的安装及调试工作，设计完成了基于嵌入式STM32的智能控制系统。同时还对主要功能模块如水域监测传感器模块及配套的控制程序进行开发。

最后，对无人艇进行了水密试验、静稳性试验、浮性试验等基本试验，着重进行了pH值检测、水温测定等核心功能试验。在多次试验之后进行多次优化、改进，使得本水域监测无人艇的功能可靠性得到了有效验证。

关键词：水域无人艇；水域监测；智能控制；嵌入式系统

Abstract：When the national construction strategy of "marine power", the marine economy proportion continues to increase. At the same time, the blue ocean is always accompanied by the increasingly serious pollution. Behind the water pollution of the waters of every hue, early monitoring, early treatment has become a subject to priority among priorities of scientific research personnel, this is the graduation the starting point of design. We propose the USV combined with water monitoring, to design a set of monitoring in the open waters with water and water monitoring system data in real time ability. Starting from the selected type of unmanned design, completed the design and manufacture of unmanned model, propulsion system, design and installation and operation system and  control  system, choose the STM32 as the core controller of the intelligent control system,  test  and Research on the performance of the water monitoring USV and the main function of time Optimization, the main work is as follows:

First of all, combined with the advantages of other materials and high performance ships for the selection of analysis, to determine the waters monitoring unmanned by boat type catamaran, the unmanned target for the overall design, the principal dimensions and propeller, also completed the design, design and layout design line.

Secondly, after finished the USV model, followed by the propulsion system, installation and commissioning of the core components of the operating system and control system, completed the design of intelligent control system based on embedded STM32. At the same time, for the development of the main function modules such as the control program of water area monitoring sensor module and supporting.

Finally, the water tightness test of the USV, static stability test, test floating test, this paper pH detection, temperature determination and other core functions. The test for multiple optimization, in tests after the improvement, the functional reliability of the water monitoring unmanned ship has been effectively verified.

Keywords: Unmanned water craft; water monitoring; intelligent control; embedded system

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第一章绪论·1