【正文】 ign of control system hardware what mainly includes the PC104 industrial puter, PHINS, GPS receiver, thrust motor, speed control module, wireless serial munication module and the ground PC machine. Secondly, with the Visual C++ as the software platform, it develops the UASVs ground control system software what includes the user interface creation and implementation of functional modules. The functional modules include the serial munication module, navigation module set tasks, monitor information processing modules, control instructions and control information calculating module to send the module. After pleting the software designing, it analysis the munication of unmanned ship and ground station. Finally, it pletes tests of each function module of the control system of the UASVs and the missioning of the system.KEY WORDS：the UASVs, Visual C++, serial munication本科畢業(yè)設(shè)計論文III目 錄摘 要 ..............................................................................................................................IABSTRACT.................................................................................................................II第一章 緒論 ................................................................................................................1 論文的研究背景和意義 ....................................................................................1 國內(nèi)外無人水面船研究與應(yīng)用現(xiàn)狀 ................................................................1 國外無人水面船的研究現(xiàn)狀 ..............................................................1 國內(nèi)無人船的研究現(xiàn)狀 ......................................................................2 VISUAL C++ 開發(fā)環(huán)境簡介 .........................................................................2 Visual C++ 開發(fā)工具概述 ...........................................................2 Visual C++ 主要功能特點 ...........................................................3 Visual C++ 主框架窗口 ...............................................................4 MFC 類庫簡介 ...................................................................................................5 論文的主要研究內(nèi)容和結(jié)構(gòu)安排 ......................................................................6第二章 無人自主水面船運動的數(shù)學(xué)模型 ................................................................7 引言 ......................................................................................................................7 坐標系及符號 ......................................................................................................7 坐標系的選擇與定義 ..........................................................................7 參數(shù)符號定義 ......................................................................................7 運動學(xué)模型 ..........................................................................................................8 動力學(xué)模型 ..........................................................................................................9 水平面運動方程 ................................................................................................10 本章小結(jié) ............................................................................................................11第三章 無人自主水面船硬件控制系統(tǒng)設(shè)計 ..........................................................12 引言 ..................................................................................................................12 無人自主水面船控制系統(tǒng)組成及工作原理 ..................................................12本科畢業(yè)設(shè)計論文IV 無人自主水面船控制系統(tǒng)總體方案設(shè)計 ........................................12 無人自主水面船控制系統(tǒng)工作原理 ................................................13 無人自主水面船控制系統(tǒng)硬件設(shè)計 ..............................................................14 船上控制系統(tǒng)硬件設(shè)計 ....................................................................14 岸上控制系統(tǒng)硬件設(shè)計 ....................................................................17 RS232C 串口標準 ............................................................................17 本章小結(jié) ..........................................................................................................18第四章 無人自主水面船岸上控制系統(tǒng)軟件設(shè)計 ..................................................19 引言 ..................................................................................................................19 岸上控制系統(tǒng)軟件用戶界面— 對話框 ..........................................................19 對話框的創(chuàng)建流程 ............................................................................19 創(chuàng)建對話框資源 ................................................................................20 創(chuàng)建對話框類 ....................................................................................24 岸上控制系統(tǒng)軟件功能模塊設(shè)計 ..................................................................27 串口通信模塊 ....................................................................................28 航行任務(wù)設(shè)定模塊 ............................................................................29 監(jiān)控信息處理模塊 ............................................................................30 控制指令解算模塊和指控信息發(fā)送模塊 ........................................31 數(shù)據(jù)的接收與保存 ..........................................................................................32 無人自主水面船與岸上 PC 機間的通訊 .......................................................33 本章小結(jié) ..........................................................................................................34第五章 功能測試與硬件聯(lián)調(diào) ..................................................................................35 引言 ..................................................................................................................35 無人自主水面船船上控制系統(tǒng)軟件簡介 ......................................................35 系統(tǒng)功能模塊測試 ..........................................................................................37 初始化模塊測試 ................................................................................37 GPS 模塊測試 ...................................................................................37 PHINS 模塊測試 ...........