摘要水面无人艇（unmanned surface vessel）它又被简称为USV,这是一种无人操作的水面舰艇，它能够在海洋环境下自主的航行, 一般用于执行危险任务以及不适于有人船只执行的任务。也可以说是一种能够完成各种不同类型任务的小型水面运动平台。如果给它配备上先进的通信系统、控制系统、传感器系统和武器系统后，其影响力和适用范围将会更加深远、更加广大。52513

本文简单介绍了当前无人艇的发展现状以及对无人艇研究的意义与背景，主要研究的是用西门子S7-200 PLC控制无人艇前后左右四方向的移动，以及各个元器件的选型。用YM-1型油门执行器来控制发动机的转速。用TD400对控制系统运行状态的监控以及控制参数的设置，本次设计自动控制方式主要靠其实现。无线控制模块是用来与YM-1油门执行器来实现通信的。手动控制主要选用HJ60工业手柄来控制。然后画出电气接线图，实现各个元器件的连接，从而实现对无人艇自动驾驶系统的一个完整的设计。

毕业论文关键词：可编程控制器；水面无人艇；自动驾驶

Abstract Water unmanned craft (unmanned surface vessel), it is also referred to as for the USV, which is a kind of unmanned surface vessel, capable of autonomous navigation in Marine environment, generally used to perform dangerous tasks and is not suitable for some ships performed tasks. Also can say is a kind of can do all sorts of different types of small water sports platform. If it is equipped with advanced communication system, control system, sensor system and weapon system, the influence and the scope will be more profound, more general. 

This article simply introduces the current status of the development of the unmanned craft and the unmanned craft research meaning and the background, main research is the use of Siemens S7-200 PLC to control the movement of unmanned boat left and right four direction before and after, and the selection of all components. Use YM - 1 type of throttle actuator to control the engine speed. Using TD400 control system running status monitoring and control parameters setting, this design mainly by the automatic control. Wireless control module is used with YM - 1 throttle actuator to realize the communication. Manual control mainly choose HJ60 industrial controller to control. Then draw the electrical wiring diagram, realize the connection of all components, to achieve the unmanned craft a complete design of autopilot system.

Keywords：programmable logic controller；Unmanned surface vessel；Automated driving

目  录

第一章 绪论 1

1.1课题研究的背景 1

1.2国内外研究现状和问题 1

1.2.1国内外研究现状 1

1.2.2国内外研究问题 2

1.2.3无人艇控制技术未来的发展方向 3

1.3课题的研究的意义与主要内容 3

第二章 无人艇自动驾驶系统的总体设计 4

2.1无人艇的基本组成 4

2.2无人艇的基本工作原理 5

2.3无人艇控制系统总体方案 6

第三章 无人艇自动驾驶系统的硬件设计 7

3.1 PLC介绍 7

3.1.1 PLC简介 7

3.1.2 PLC的基本结构 7

3.1.3 PLC的工作原理 8

3.1.4 PLC的特点