Study On Manipulation Simulation System Of Unmanned Surface Vehicle

Recently marine resources are developed further and maritime security is being paid more and more attention. Characterized by small size, good flexibility, strong invisibility, Unmanned Surface Vehicle (USV) will be used broadly in marine resource development and equipped military areas. USV will become a powerful tool of the ocean in the future. Therefore, it is becoming a research and development focus worldwide. Combined with the current research and development state of USV the current state of USV research and development, this paper uses the equipment existed in the laboratory to build a set of manipulation simulation system of USV and researches on each component.The manipulation simulation system of USV designed in this paper contains two subsystems, respectively shipboard system and shore-based system. The shipboard system consists of PC-board systems, autopilot, level turntable, wireless module and gyrocompass. Information is exchanged between shipboard system and shore-based system through wireless module.Shore-based system took Tiny6410 ARM development board as the main control board, Linux system as running environment, and Qt Create as the development environment. A QextSerialPort class is used for a serial port communica-tion program design in Qt Create. Qt Designer, the graphic Designer, is used to design the user interface with a soft keyboard. USV’s control mode can be chosen and heading and speed can be set through user interface, whose result can be sent to shipboard system through the wireless module. What’s more, the interface display area can real-time display USV’s rudder angle and heading feed by shipboard system.In the shipboard system, the Microsoft Visual C++ 6.0 software development platform is used to realize USV mathematical model and calculation. The PC works as the carrier of mathematical model for USV operation, and gyrocompass is placed on the level turntable. Rotation of level turntable drives the rotation of gyrocompass to simulate the heading changes of USV. Autopilot and accessory equipment provide real rudder angle signal for USV mathematical model, USV mathematical model calculated the heading based on the rudder angle. Then the heading on the one hand is sent to the autopilot to form a feedback loop of heading, the other is sent to level turntable controller. Level turntable controller can also receive heading signal from gyrocompass. Comparing this heading with the heading provided by gyrocompass to obtain heading deviation, level turntable controller sends pulse control signal to the stepper motor driver according to this heading deviation to drive stepper motor. The stepper motor will drive the level turntable to rotate. Gyrocompass on the level turntable provides different course based on the rotation of level turntable, which can simulate the heading change of the USV.Finally, USV model calculating test, communicating test and control test are carried out for the overall system. The test results and the analysis results show that the manipulation simulation system of USV can reflect the true condition of the USV quite accurately, and the system can provide a simulation platform for future research.