摘要：无人艇是一种小型的水面舰艇，随着无人艇的功能不断趋于多元化，对无人艇的艇型优化显得至关重要。无人艇的艇型优化属于多目标优化问题，涉及到各方面性能的协调统一。本文综合了无人艇的设计制作、模型试验、优化数学模型和优化方法以及远程系统等内容，其核心的内容为优化数学模型的建立。

本文首先对遗传和混沌两种优化算法进行了研究，分析其寻优的基本原理和优缺点。其次构建无人艇的优化数学模型，在构建艇型优化数学模型时，主要从快速性、操纵性、耐波性和抗倾覆性这四方面考虑。先依据各方面性能的特点和有关评价公式建立了子目标函数，然后采用幂指数乘积的方式将各子目标函数结合，构成综合优化目标函数。然后根据这两种算法的寻优规则和构建的优化数学模型基于C#程序语言编写优化程序并进行优化计算。

根据优化分析得到的数据进行了无人艇的模型设计制作。其中详细介绍了无人艇模型制作的主要步骤，使用的材料和相关设备等内容。一个良好的无人艇模型是试验成功的关键，无人艇的模型制作是否达到设计标准，影响到试验数据的准确性和规律性。所以在实际制作中，应该按要求、按步骤的有序进行。

在模型试验中，主要进行了无人艇操纵性和耐波性的试验，操纵性试验又以回转试验为主，测量不同舵角和航速下的回转直径和回转时间；耐波性试验包括横摇和纵摇试验，使用MTi-G传感器测量无人艇不同时刻的横摇角度和角速度（纵摇角度和纵摇角速度）。试验得到的数据采用系统辨识的方法进行分析，通过建立的回转辨识数学模型、横摇辨识数学模型和纵摇辨识数学模型，辨识出模型中的有关参数。系统辨识既能很好的研究无人艇的运动变化特点，又能辨识出无人艇的有关参数为性能优化数学模型提供必要基础。

最后，关于远程系统的初步设计主要是利用TeamViewer软件的远程控制功能。使用者通过TeamViewer软件进入服务器使用优化软件，以完成优化操作。

关键词：优化算法；优化数学模型；系统辨识；模型试验；远程系统

Abstract：Unmanned Surface Vehicle (USV) are a small surface ship, with the Unmanned Surface Vehicle continue to tend to persify,USV type optimization is essential.USV type optimization is a multi-objective optimization problem, involving all aspects of the performance of the harmonization. This paper combines the design of USV, model tests, optimization of mathematical models and optimization methods, as well as remote systems and other content, the core of which is to optimize the establishment of mathematical models.

In this paper, we first study the genetic and chaos optimization algorithms, and analyze the basic principles and advantages and disadvantages of the optimization. Secondly, the optimal mathematical model of USV is constructed. In constructing the optimization mathematical model of boat type, the four aspects are as follows: fastness, maneuverability, wave resistance and anti overturning Firstly, the sub-objective function is established according to the characteristics of the performance and the evaluation formula. Then, the sub-objective functions are combined by means of the power exponent product to form a comprehensive optimization objective function. Then, based on the optimization rules of these two algorithms and the optimized mathematical model, the optimization program based on C # programming language is compiled and optimized.

According to the data obtained from the optimization analysis, the model of the USV is made. Which details the boat model of the main steps, the use of materials and related equipment and so on. A good model is the key to the success of the model test. Whether the model of the USV is designed to meet the design standard and the accuracy and regularity of the test data are affected. So in the actual production, should be required, according to the order of orderly.