AUV 六自由度模型 MATLAB 仿真

clc clear all close all R2D=180/pi; D2R=pi/180; h=0.1; %步长：秒 m= 3000; %节拍 %力和舵角初始化 Fu = 0; deltav = 0; deltah = 0; Force0 = []; deltav0 = []; deltah0 = []; x = zeros(10,1); %临时状态变量 T = zeros(m,1); %时间 Y = zeros(m,10); %状态变量 u0 = 0; v0 = 0; w0 = 0; q0 = 0; r0 = 0; x0 = 0; y0 = 0; z0 = 0; theta0 = 0; psi0 = 0; Initial = [u0; v0; w0; q0; r0; x0; y0; z0; theta0;psi0]; x = Initial; for i=1:1:m t = h*i; T(i,1)=t; Fu = 200; deltav =10; deltah =100; %龙哥库塔法 k1=Infante_3d(t,x,[Fu deltav deltah]); k2=Infante_3d(t + h/2, x+h/2.*k1,[Fu deltav deltah]); k3=Infante_3d(t + h/2, x+h/2.*k2,[Fu deltav deltah]); k4=Infante_3d(t + h, x+h.*k3,[Fu deltav deltah]); x = x + h/6.*(k1 + 2.*k2 + 2.*k3 + k4); x(1)=LimitMaxMin(x(1),6,0); x(2)=LimitMaxMin(x(2),2,-2); x(3)=LimitMaxMin(x(3),2,-2); x(4)=LimitMaxMin(x(4),0.1,-0.1); x(5)=LimitMaxMin(x(5),0.1,-0.1); x(9)=LimitMaxMin(x(9),D2R*20,-D2R*20); x(10)=AdjustAngle(x(10)); Y(i,1) = x(1);%u Y(i,2) = x(2);%v Y(i,3) = x(3);%w Y(i,4) = x(4);%q Y(i,5) = x(5);%r Y(i,6) = x(6);%x Y(i,7) = x(7);%y Y(i,8) = x(8);%z Y(i,9) = x(9);%theta Y(i,10) = x(10);%psi Force0 =[Force0 Fu]; deltav0=[deltav0 deltav]; deltah0=[deltah0 deltah]; end U = Y(:,1); V = Y(:,2); W = Y(:,3); Q = Y(:,4); R = Y(:,5); Xp = Y(:,6); Yp = Y(:,7); Zp = Y(:,8); theta = Y(:,9); psi = Y(:,10); figure(1); subplot(3,1,1);plot(T,U,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('纵向速度u[m/s]');grid on;hold on; subplot(3,1,2);plot(T,V,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('横向速度w[m/s]');grid on;hold on; subplot(3,1,3);plot(T,W,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('垂向速度w[m/s]');grid on;hold on; figure(2); subplot(3,1,1);plot(T,Xp,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('纵向位移[m]');grid on;hold on; subplot(3,1,2);plot(T,Yp,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('横向位移[m]');grid on;hold on; subplot(3,1,3);plot(T,Zp,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('垂向位移[m]');grid on;hold on; figure(3); plot3(Xp,Yp,Zp,'b--','LineWidth',2);xlabel('纵向位移[m]');ylabel('横向位移[m]');zlabel('垂向位移[m]');title('UUV航迹');grid on;hold on;% figure(4); subplot(2,1,1);plot(T,psi*180/pi,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('艏向角[角.deg]');grid on;hold on;% subplot(2,1,2);plot(T,theta*180/pi,'b','LineWidth',2);xlabel('仿真时间[s]');ylabel('纵倾角[角.deg]');grid on;hold on;%%Delatv垂直舵 figure(5); subplot(2,1,1);plot(Xp,Yp,'b--','LineWidth',2);xlabel('纵向位移[m]');ylabel('横向位移[m]');title('UUV航迹');grid on;hold on; subplot(2,1,2);plot(Xp,Zp,'b--','LineWidth',2);xlabel('纵向位移[m]');ylabel('[垂向位移m]');title('UUV航迹');grid on;hold on;