Code covered by the BSD License  

Highlights from
ROV Design and Analysis (RDA) - Simulink

image thumbnail
from ROV Design and Analysis (RDA) - Simulink by Cheng Chin
ROV control system design and simulation toolbox

addedmass.m
%with additional of components
Ma_wc=[21.0981 0 0.0884 0 -2.6127 0;...
       0 51.0026 0 2.9299 0 -10.5347;...
       0.0692 0 91.837 0 18.8839 0;...
       0 2.9199 0 3.5760 0 -0.5795;...
       -2.5988 0 18.884 0 6.7568 0;...
       0 -10.5377 0 -0.5793 0 4.4147]
   
 Ma_woc=[21.724 0 -0.5683 0 -2.8284 0;...
       0 51.5244 0 3.3080 0 -10.9879;...
       -0.0147 0 94.3 0 19.8585 0;...
       0 3.3320 0 3.8803 0 -0.7420;...
       -2.6862 0 19.9056 0 7.1148 0;...
       0 -11.0786 0 -0.7329 0 4.7673]
   
 %with reference frame change

 Ma_wof=[21.1397 0 0.0611 0 -2.6766 0;...
       0 51.7000 0 3.0774 0 -10.7171;...
       0.0921 0 92.45 0 19.0681 0;...
       0 3.1609 0 3.7259 0 -0.6464;...
       -2.6190 0 19.0437 0 6.882 0;...
       0 -10.7186 0 -0.6258 0 -4.5224] 
   
 Ma_wf=[21.1398 0 0.0621 0 1.0083 0;...
       0 51.7013 0 -5.9705 0 1.588;...
       0.0918 0 92.4511 0 -2.9191 0;...
       0 -5.8866 0 4.2176 0 -0.1719;...
       1.0583 0 -2.9489 0 2.7687 0;...
       0 1.5863 0 -0.171 0 2.3493]    
 clc;  
 min_c=min(Ma_woc,Ma_wc);,min_c2=min(min_c,Ma_wf);
 Ma_min=min(min_c2,Ma_wof)
 max_c=min(Ma_woc,Ma_wc);,max_c2=max(max_c,Ma_wf);
 Ma_max=max(max_c2,Ma_wof) 
       

Contact us