摘要水面气动船速度控制的建模与实现 如今，随着科学技术的发展，海洋开发活动愈发频繁，海洋无人智能监测平台的应用越来越广泛。本文系统地介绍了水面气动船的研究概况，并对气动船的控制系统进行了设计。68297

本文在分析了由美国卡耐基梅隆大学和南京理工大学共同研制的水面气动船的特点的基础上，对运动过程中的气动船进行了受力分析，并在此基础上建立了气动船的运动数学模型以及气动船控制信号的程序。本文还对气动船在运动过程中可能存在的干扰进行了分析，在考虑外界干扰的基础上采用经典PID算法根据建立的数学模型对气动船的控制系统进行了方案设计，并完成了控制系统的仿真实验。 

毕业论文关键词  水面气动船  航向控制  PID控制算法

毕业设计说明书（论文）外文摘要

Title           Modeling and Implementation of the    Speed Control for Airboat             

Abstract

Nowadays, With the development of science and technology, marine development is getting more and more active, and the application of unmanned intelligent monitoring platform is becoming more widely-used. This paper systematically describes the present overview of airboat and designs the control system of airboat.  

Based on the analysis of the characteristics of airboat which is jointly developed by Carnegie Mellon University and Nanjing University of Science and Technology, this paper develops the force analysis of the airboat during moving process , and builds up its motion mathematical model as well as designs a program to find the most desired control signal for airboat. This paper also analyzes the potential interferences which may occur during the moving process. Based on the established mathematical model for airboat, this paper designs the airboat’s control system by considering the interference and adopting classical PID control algorithm and implements the simulation of the control system.

Keywords  airboat  course control   PID control algorithm

目   次

1 引言： 1

1.1 课题研究背景 1

1.2 水面无人艇的发展概况 2

1.3 论文结构及内容 3

2 水面气动船的现状与介绍 4

3 气动船数学模型的建立： 5

3.1 坐标系的建立 5

3.2 气动船数学模型 6

3.3 外界干扰 11

4 控制系统的设计 12

4.1 目标点的选取 12

4.2 控制信号的获取 12

4.3 控制系统的设计： 18

5 程序设计及仿真分析： 24

5.1 控制信号获得子程序仿真：