ROVsim
所属分类：matlab编程
开发工具：matlab
文件大小：4139KB
下载次数：305
上传日期：2012-03-27 16:41:02
上 传 者：
zsk224
说明： 水下机器人控制matlab仿真，对水下机器人控制的仿真有很大帮助，内含好多源代码
(Underwater robot control matlab simulation of underwater robot control simulation , containing a lot of source code
)
文件列表:
ROVsim\BEST.rar (50420, 2011-04-30)
ROVsim\May\滑膜_平移OK\kineticsss.m (3306, 2011-04-25)
ROVsim\May\滑膜_平移OK\ROV_ForceWater.m (3279, 2011-04-30)
ROVsim\May\滑膜_平移OK\ROV_WeightBuoyancy.m (589, 2011-04-30)
ROVsim\May\滑膜_平移OK\SlideMode001_6Control.asv (1903, 2011-05-03)
ROVsim\May\滑膜_平移OK\SlideMode001_6Control.m (1901, 2011-05-03)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_trans.m (363, 2011-03-12)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_trans.asv (340, 2011-03-11)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_convertAngular.m (511, 2011-03-11)
ROVsim\May\滑膜_平移OK\gh Toolbox\ArrayProduction.m (95, 2011-03-12)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_WeightBuoyancy.m (589, 2011-04-30)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_ForceWater.m (3279, 2011-04-30)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_ForceWater.asv (3266, 2011-04-29)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV.m (116, 2011-03-15)
ROVsim\May\滑膜_平移OK\gh Toolbox\angular2lesst.m (268, 2011-03-17)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_path.m (943, 2011-04-25)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_path.asv (937, 2011-03-30)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_FBUDpath.m (820, 2011-04-07)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_LRUDpath.m (910, 2011-04-07)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_FBLRpath.m (821, 2011-04-07)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_axis.m (286, 2011-03-25)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_2EthAng.m (392, 2011-03-25)
ROVsim\May\滑膜_平移OK\gh Toolbox\ROV_2EthPosition.m (268, 2011-03-25)
ROVsim\May\滑膜_平移OK\gh Toolbox\Timer_gh.mdl (25079, 2011-04-01)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_ROV_LRUDpath.asv (904, 2011-04-07)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_VisualServo_path.m (941, 2011-04-07)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_scope.m (469, 2011-04-08)
ROVsim\May\滑膜_平移OK\gh Toolbox\plot_scope.asv (470, 2011-04-08)
ROVsim\May\滑膜_平移OK\gh Toolbox\maxxx.m (162, 2011-04-09)
ROVsim\May\滑膜_平移OK\gh Toolbox\kineticsss.m (3306, 2011-04-25)
ROVsim\May\滑膜_平移OK\gh Toolbox\gh_sfuntmpl.m (1642, 2011-04-28)
ROVsim\May\滑膜_平移OK\gh Toolbox\gh_sfun.m (1642, 2011-04-28)
ROVsim\May\滑膜_平移OK\SMC_0430.mdl (391159, 2011-05-03)
ROVsim\SensorDraw\Draw_Sensor.m (188, 2011-07-13)
ROVsim\SensorDraw\Draw_Sensor.asv (169, 2011-07-12)
ROVsim\SensorDraw\simulinkReadSerial.mdl (25757, 2011-07-13)
ROVsim\SensorDraw\001.mat (2764, 2011-07-15)
ROVsim\SensorDraw\draw3axis.m (1072, 2011-07-18)
ROVsim\SensorDraw\draw3axis.asv (484, 2011-07-17)
ROVsim\SensorDraw\Rec110718205148.txt (12288, 2011-07-18)
... ...
本模型是基于滑膜控制方法的平移运动控制，创建时间为2011年4月30日
由于公式输入过程中的错误，控制算法是错误的，但是结果控制效果很好。
错误之处在于控制算法的控制率中
Result=Fu.*(-C.*(actualPosition-setPosition)-(Fwater+Fwb)./Fu+setAcc+(-eps.*s./(abs(s)+delta)-k.*s));
中的actualPosition-setPosition项应该为actualSpeed-setSpeed。
-----------------------2011年5月3日
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