| Because marine rights and interests is more and more important to all countries in the world, research of unmanned surface vehicles(USV) has been rising in the worldwide. The domestic research of USV is still in the initial stage, there is a big gap in the research level compared with western developed countries. After learning the domestic research status of USV, This paper carries on research of test platform of USV. The platform can simulate the movement of USV at sea, in this platform, researchers can study some algorithm and observe the motion of USV conveniently.The purpose of this paper is to design an USV test platform, the main research work are as follows:1. Study on the model of marine environmental disturbance such as wind, wave and flow, the mathematical model of USV, propeller characteristics and relationship between USV and propeller.2. Study on the heading control and trajectory control of USV. The heading control algorithm is PID. In the design process of tracking controller, in order to guarantee the convergence of the position tracking errors, desired surge and sway velocities are proposed as virtual control law. Furthermore, actual control laws are constructed to force the real surge and sway velocities convergent to the desired ones. Finally, conduct the model simulation with Simulink.3. At first construct a virtual reality world with V-realm Builder2.0visualization tool, then use Simulink virtual reality toolbox to connect the simulation of USV to the virtual reality world, so the USV can move according to the will of researchers in the virtual world.4. Carry out the physical simulation, send the simulation results of Simulink through the serial port to PLC controlling the rotation of turntable which simulate the heading control of USV.5. Use MATLAB/GUI technology to complete the calculating interface of the mathematical model of USV and the main control interface of test platform of USV which integrates all functions making the operation convenient. |
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