MCSProject/sim1.m at main · holoom/MCSProject · GitHub

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path = 'figs' ;
if ~exist(path, 'dir')
    mkdir(pwd, path);
end


sub_path = 'figs/sim1' ;
if ~exist(sub_path, 'dir')
    mkdir(pwd, sub_path);
end


% sim1 parameters

observer = 1; % withoutobserver = 1, EKF = 2, NonlinearObserver = 3
use_env_forces = 1;      % 0 for no environmental forces , 1 for enalbling the environmental forces
enable_waves = 1;        % 0 for not using waves, 1 for enabling the waves
allocation_method = 1;   % 0 for quadratic programming method , and 1 for pseudo inverse method
desired_DP_force = [0 0 0];
use_fixed_con = 1 ; % 1 for fixed desired DP force, 0 for using PID controller
thrusterfault = 1 ;    % healthy

% unnecessary parameters
ref_model = 1;    % 0 for 0 desired setpoint , 1 for 4 corners
use_ref = 1 ;     % 0 for desired setpoint without reference model , 1 use reference model ()
use_thrust_allocation  = 1 ;            % 0 without thrust allocation , 1 with thrust allocation


sim_time= 300 ;

% environmental params
% wind parameters
mean_wind = 10 ;
mean_wind_direction = 180 ;  %  from north
N =100;
z = 3;
n = 0.468;
U_10 = 12 ;
params_wind = [N z n U_10];

% current parameters
mean_current_speed = 0.2 ;
mean_current_angle = 270 ;     % from east

% waves parameters
H_s = 2.5 ;
T_p = 9   ;
dir = 225 * pi/180 ;  % fromm north east


% run the simulation
sim('part1.slx') ;

% data extraction
eta = logsout.getElement('eta') ;
time= eta.Values.Time ;

% current pose
north = eta.Values.Data(: , 1) ;
east  = eta.Values.Data(: , 2) ;
psi   = eta.Values.Data(: , 3) ;

% plotting

figure(1)

plot(time, north)
hold on
plot(time, east)
hold on
plot(time, psi)
xlabel('Time (sec)')
ylabel('Distance (m)')
title('Drifing Vessel under Environmental Loads (Position)');
legend('North', 'East')
saveas(gcf, fullfile(sub_path , sprintf('Translational_%02d.png', 1)));

figure(2)

plot(time, psi )

xlabel('Time (sec)')
ylabel('Amplitude (rad) ')
title('Drifing Vessel under Environmental Loads (Heading)');
saveas(gcf, fullfile(sub_path , sprintf('Rotational_%02d.png', 1)));


figure(3)

plot(east, north) ;
hold on
indices = 1:500:length(east) ;

selected_x = east(indices);
selected_y = north(indices);
selected_u = cos(-psi + (pi/2)) ;
selected_u = selected_u(indices);
selected_v = sin(-psi + (pi/2)) ;
selected_v = selected_v(indices);

quiver(selected_x, selected_y, selected_u, selected_v, 0.2, 'Color', 'r', 'LineWidth', 1.5);


title('XY plot')
xlabel('Position in East direction (m)')
ylabel('Position in North direction (m)')
legend('ship path')
saveas(gcf, fullfile(sub_path , sprintf('xy_%02d.png', 1)));


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% extra tests
use_waves= 0 ;
mean_current_speed = 0  ;
mean_wind = 40 ;
mean_wind_direction = 135 ;
sim_time = 2000;

sim('part1.slx')

% state

eta = logsout.getElement('eta') ;
time= eta.Values.Time ;

% current pose
north = eta.Values.Data(: , 1) ;
east  = eta.Values.Data(: , 2) ;
psi   = eta.Values.Data(: , 3) * 180/pi ;

figure(4)

plot(time, psi )

xlabel('Time (sec)')
ylabel('Amplitude (degree) ')
title('Heading of the Vessel under strong wind in South East');
saveas(gcf, fullfile(sub_path , strcat( num2str(1) , sprintf('extra%02d.png', 1))));

use_waves= 0 ;
mean_current_speed = 40  ;
mean_current_angle = 135  ;
mean_wind = 0 ;
sim_time = 2000;


sim('part1.slx')

% state

eta = logsout.getElement('eta') ;
time= eta.Values.Time ;

% current pose
north = eta.Values.Data(: , 1) ;
east  = eta.Values.Data(: , 2) ;
psi   = eta.Values.Data(: , 3) * 180/pi ;

figure(5)

plot(time, psi )

xlabel('Time (sec)')
ylabel('Amplitude (degree) ')
title('Heading of the Vessel under strong current in South East');
saveas(gcf, fullfile(sub_path , strcat( num2str(2) , sprintf('extra%02d.png', 1))));