How to make a "sail" change its angle relative to way the submarine is moving?

Question

Vladimir 2023-2-9

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https://ww2.mathworks.cn/matlabcentral/answers/1909750-how-to-make-a-sail-change-its-angle-relative-to-way-the-submarine-is-moving

回答： Steve Miller 2023-2-12

I have a controller and assembled submarine. The submarine moves according to the trajectory given by contorller. However when the submarine changes the direction the details which make the submarine turn don't move. Controller has all the angles within the required period of time on how these details move (they basically turn form 0 to 20 degrees around one of axis). When I apply a joint from simscape library it percieves the only angular velocity but not the angle. Which elements should I use to provide the agles from controller to the details in order them to change their angles only?

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Answer 1

Steve Miller 2023-2-12

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https://ww2.mathworks.cn/matlabcentral/answers/1909750-how-to-make-a-sail-change-its-angle-relative-to-way-the-submarine-is-moving#answer_1169820

Can you share the model? It would make it easier to give you specific advice.

As long as the joint is configured to accept joint as an angle and that the torque is automatically calculated, the joint will follow the angle you specify. Be sure that the units are correct and that the angle you are specifying is in the correct reference frame (local).

--Steve