【摘要】 为实现无人艇在海上追踪、搜救、巡逻、反潜等任务中的超长续航,避免因油料限制而被迫任务中断,设计一套以风能和太阳能为动力的无人艇系统,利用风帆为无人艇推进,利用太阳能为船上电控设备提供电能。该系统由无人艇和岸基监控平台组成,无人艇可通过开发出的数据采集模块和算法模块实时采集环境数据,计算、生成并下达控制指令,在风区内超长续航自主航行,实现全风向利用;岸基监控平台可实时监控无人艇状态,并进行自主/遥控模式切换。对系统进行测试的结果表明通讯连接试验的可靠性高;无人艇航行试验验证了全风向自主航行的可行性,运行轨迹与仿真结果基本重合;太阳能供电分析理论上验证了风区超长续航的可实现性。更多还原

【Abstract】 During the ultra long endurance of unmanned surface vessel(USV) with tasks of tracking, rescue, cruising and anti-submarine, in order not to be forced to break off because of fuel limitation, the USV system is designed with the propulsion of wing and solar energy. The wing sail is for propulsion and the solar energy is to supply electric energy for the electric-controlled equipment onboard. The system consists of USV and onshore supervisory platform. The USV is capable of collecting multiple real-time signals simultaneously, processing the data and giving orders in real time, propelling the USV with wind from all directions, aiming at completing tasks with ultra-long-endurance. The onshore supervisory platform is available for supervising the state of the vessel and changing the navigation mode between remote control and automatic control. The test result on the system shows that the communication is highly reliable; the vessel automatically navigates as expected using wind from all directions; the sailing routine is basically coincident with the simulated result; the ultra-long-endurance is competent which is verified by the solar energy for electric power analyzing theory.更多还原