How can I simulate a USV/ASV using MATLAB/Simscape?

16 次查看（过去 30 天）
Hangyeol Go
Hangyeol Go 2023-9-8
回答： arushi 2024-9-6
Hi,
I'm looking for a simulator where I can validate the math models of my custom ASV which has a manipulator attached underneath it, without the need to calculate hydrodynamics myself.
I found a presentation 'Design and Simulation of Autonomous Surface Vessels | MATLAB Day for Marine Robotics & Autonomous Systems, Part 4' where Simscape was introduced for modelling and simulating a ASV with hydrodynamics applied. The model I'm referring to is in the picture below (at 5:00 in the video in Link)
I'm specifically interested in the water environment which the ASV interacts with. I'm wondering how I can apply the hydrodynamics (buoyancy, drag, added mass, etc) to any custom ASV (which can have other body parts such as a manipulator) without having to derive and put equtions in the simulator.
Thank you very much.

请先登录，再回答此问题。

回答（1 个）

arushi
arushi 2024-9-6
Hi Hangyeol,
I understand that you have an ASV(Autonomous Surface Vehicle) model and want to simulate its hydrodynamics (buoyancy, drag, added mass, etc) in Simscape, but Simscape does not model the environment around your system, except for the gravity acceleration. To include hydrodynamics affects you can use the “External Force and Torque” block. For example, buoyancy would be a constant upward force (in the world reference frame) depending on the geometry of the solid and the mass of the surrounding fluid.
Please find the documentation of the “External Force and Torque” block below:
https://in.mathworks.com/help/sm/ref/externalforceandtorque.html
Hope it Helps!

类别

在 Help Center 和 File Exchange 中查找有关 Simscape Multibody 的更多信息

标签

产品

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by