Methodology for Multi-Domain Coupling Modeling of Unmanned Surface Vehicle Dynamics Based on Modelica

The widespread deployment of Unmanned Surface Vehicles (USVs) in military reconnaissance and oceanic exploration has underscored the need for sophisticated modeling and simulation technologies. Current studies primarily focus on simulations of individual systems, which often encounter difficulties with model integration and lack efficiency. This research utilizes the Modelica language and the MWorks platform to develop an advanced multi-domain modeling and simulation framework for USVs. This framework constructs an integrated model that includes the dynamics, control, power, transmission, and waterjet propulsion systems. The simulations, encompassing scenarios such as straight navigation, rotational maneuvers, reverse movements, and task-specific actions, highlight the model’s ability to adapt dynamically to complex marine environments. The efficacy of this model enhances USV design and autonomous operations, facilitating path planning and real-time obstacle avoidance, and sets the stage for further studies on collective control strategies.