Code covered by the BSD License
Highlights from
Shark
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J=rpy2J(rpy)
J=rpy2J(rpy); computes generalised Jacobian matrix which
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R_eb=rpy2R_eb(rpy)
R_eb=rpy2R_eb(rpy), computes the rotation matrix of e-frame wrt b-frame,
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[Cl,Cd,xcp]=a2clcdxc(alfa)
[Cl,Cd,xcp]=a2clcdxc(alfa) computes hydrodynamic coefficients Cl and Cd
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[v1,v2,v3]=vehicle()
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a2clcd(alfa)
[Cl, Cd] = a2clcd(alfa) computes hydrodynamic coefficients Cl and Cd
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demos
DEMOS Demo list for Shark.
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shark()
(the function shark adds the needed folders to the matlab path)
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tc=tau_cor(veh,v,vr)
tc=tau_cor(veh,v,vr) calculates coriolis forces from
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td=tau_damp(veh,vr,de)
td=tau_damp(veh,vr,de); calculates damping forces from
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tr=tau_rest(veh,p)
tr=tau_rest(veh,p); calculates restoring forces from
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xdot=vxdot(xu)
computes state derivatives as a function of state and input
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z=vp(x,y)
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contents.m
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linattk.m
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NLKSF
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OPLOOP
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xtrlmod
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View all files
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| File Information |
| Description |
Shark is a detailed nonlinear model of an underwater vehicle for MATLAB 5.3 and later (tested on 6.1 as well).
It has a Simulink interface but the source code consists in 10 MATLAB functions, each one being well documented in an enclosed PDF report.
It is possible to modify the functions to simulate different kind of vehicles and, in general, this tool can be seen as an effective way to map the equations of a mechanical system to a working simulation in the MATLAB and
Simulink environment, especially in those cases where the extensive use of a matrix-based formulation in the modeling makes MATLAB (rather than Simulink) the preferred coding environment.
NOTE: After downloading and unzipping the file "shark.zip", please follow the istructions in the file "contents.m".
Giampy, Dec 2001 |
| Required Products |
Simulink
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| MATLAB release |
MATLAB 5.3.1 (R11.1)
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| Comments and Ratings (5) |
| 06 Mar 2003 |
farzin radkani
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| 30 Dec 2003 |
Dionnys Moran
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| 15 Sep 2004 |
Kulic Ranka
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| 29 Mar 2005 |
hugo ferreira
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| 24 May 2005 |
Gerardo Acosta
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| Updates |
| 12 Mar 2003 |
The figures in the PDF manual now have a better resolution. |
| 02 Jun 2003 |
Updated Signature and info.xml file. |
| 12 May 2005 |
Renamed everything lowercase |
| 12 May 2005 |
Removed extra dir info from zip file,
and corrected a small bug. |
| 07 Feb 2007 |
Changed info.xml file to avoid annoying messages within the last matlab versions. |
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Contact us at files@mathworks.com
