Aiming at the problems existing in the teaching of engineering control course of Unmanned Surface Vehicle(USV), a semi-physical simulation experimental teaching platform is established by using computer technology and powerful industrial software system. In view of the uncertainty of the USV physical parameters, the applicability of the dynamic model was discussed, and the controller was designed according to the dynamic model of the USV, and the influence law of the controller parameters was analyzed. To build an experimental and teaching semi-physical simulation platform for the dynamic modeling and control of the USV system, to improve the students" ability of Maneuvering USV, fault diagnosis and maintenance of the USV.