Can I use the Remus100.m file to perform zigzag and turn circle maneuvers on a horizontal plane?
wanghengshine opened this issue · comments
Dear Professor Fossen：
I want to study the characteristics of horizontal motion of the Remus100 underwater vehicle. Can I use the Remus100 file to perform zigzag and turn circle simulation experiments?
If possible, how should I modify the existing ship model file? Could you provide some guidance or ideas?
Best Regards
Heng Wang
You can modify the example file ExZigZag.m to call the remus100.m model file. The file is a template file used to call a ship model.
Dear Professor：
I attempted to modify the ExZigzag file, with the initial conditions set as follows：
x = [1.25 0 0 0 0 0 0 0 0 0 0 0]'; delta_r = 0; delta_s = 0; n = 750;
the graph of lateral velocity v versus time t is as follows
Why does the longitudinal velocity fluctuate frequently? Is it a problem with my code debugging?
It can be many reasons. The sampling time may be too high. Try 50-100 Hz. Turn off ocean currents?
I need more data, so I set t_final = 100; t_rudderexecute = 2; h = 0.1;and I turned off the ocean currents.
The graph is from the 10° zigzag test I modified, but I can't find the reason for the fluctuations in the longitudinal velocity.
I have added the Remus 100 AUV to the ExZigZag.m file for your convenience. You need to download the updated ExZigZag.m and zigzag.m files from GitHUb. In addition, there is a new file zigzag6dof.m for 6-DOF models such as the Remus 100. Running the new example file gives you the Remus 100 zigzag plots shown below.
I am very grateful for Professor Fossen's help, and I will try to calculate the data again.