叉积 微分 恒等式_Matlab仿真-----基于微分运算的运动过程模拟

数据来源

无人艇项目

算法数学模型

1. 微分计算

2. USV在不同速度下，受到的阻力不一样。系统能够提供的推力，也不一样。

3. 由于空泡的影响，当速度不断增大时，推力会明显下降。因此，对于船体的稳定性，空泡有着明显的差别。因此，船体的设计，非常重要啊

4. 对于不同结构的船体，空泡有着不同程度的影响。

算法目标

基于USV在不同速度下的阻力、推力，计算USV从静止到加速至一定速度，所需要的时间，进行计算。

避障算法I/O：

Input:

Output:

仿真算法过程：

前提是梳理全国成果，建模、准备数据、理清思路。

第一步：数据插值

步长是定为0.05，即单个间隔是50毫秒。

x = 0:pi/4:2*pi; 
v = sin(x);
xq = 0:pi/16:2*pi;
vq1 = interp1(x,v,xq);
vq2 = interp1(x,v,xq,'spline');
figure 
vq1 = interp1(x,v,xq); 
plot(x,v,'o',xq,vq1,':.'); 
xlim([0 2*pi]); 
title('(Default) Linear Interpolation');

现在使用 'spline' 方法计算相同点处的 v。

figure 
vq2 = interp1(x,v,xq,'spline'); 
plot(x,v,'o',xq,vq2,':.'); 
xlim([0 2*pi]); 
title('Spline Interpolation');

第二步：计算单步变量

第三步：循环结构

算法代码：

function Differential_calculation
% ruogu7(380545156@qq.com)
% Start: Am 10:14 Mar. 20th, 2020
% End: Pm 10:14 Mar. 20th, 2020
% Example:
clc; clear all;
% extract the data from excel file
[numdata,textdata,alldata] = xlsread('data.xls');
String_alldata = string(numdata);
Cleandata = String_alldata(3:end,1:end-1);
numdata = str2double(Cleandata);
 
%% ²åÖµ
k = 1:size(numdata,1) 
kq = 1:0.05:size(numdata,1) % ²½³¤Îª0.05s
speed_Interpolation = interp1(k,numdata(:,1),kq) % ÏßÐÔ²åÖµ
resistance_Interpolation = interp1(k,numdata(:,7),kq,'nearest') % ÁÙ½ü²åÖµ
drivingforce_Interpolation = interp1(k,numdata(:,8),kq,'nearest') % ÁÙ½ü²åÖµ
 
kk = 1; % ËٶȵıêºÅ
real_speed = 22 + 0.0000000001;
for ii = 1:10000000
 bb = find(speed_Interpolation < real_speed);
 kk = size(bb,2) + 1
 acce = ((drivingforce_Interpolation(kk)-resistance_Interpolation(kk))/9/1.15/1852)*3600;
 Dotar_speed = acce*0.05;
 real_speed = real_speed + Dotar_speed
 if real_speed > 35
 time_used = 0.05 * ii
 break;
 end 
end
 
%% 
% x = 0:pi/4:2*pi; 
% v = sin(x);
% xq = 0:pi/16:2*pi;
% vq1 = interp1(x,v,xq);
% vq2 = interp1(x,v,xq,'spline');

代码优化，编程了函数，方便调用，同时也增加了一个统计结果，就是累计距离

function [time, distance] = timedistance4accelaration (usvweight, speed_start,speed_end)
% ruogu7(380545156@qq.com)
% Start: Am 10:14 Mar. 20th, 2020
% End: Pm 10:14 Mar. 20th, 2020
% Example:
% [time, distance] = timedistance4accelaration (8, 0, 12)
% [time, distance] = timedistance4accelaration (8, 12, 25)
% [time, distance] = timedistance4accelaration (8, 25, 35)
% [time, distance] = timedistance4accelaration (8, 35, 40)

%% clc; clear all;
% extract the data from excel file
[numdata,textdata,alldata] = xlsread('data_0321.xls');
String_alldata = string(numdata);
Cleandata = String_alldata(1:23,1:8);
numdata = str2double(Cleandata);

%% 插值
k = 1:size(numdata,1)  ;
kq = 1:0.02:size(numdata,1) ;   % 步长为0.05s
speed_Interpolation = interp1(k,numdata(:,1),kq);  % 线性插值

if usvweight == 8
    resistance_vector = numdata(:,3);
end
if usvweight == 8.5
    resistance_vector = numdata(:,5);
end
if usvweight == 9
    resistance_vector = numdata(:,7);
end

resistance_Interpolation = interp1(k,resistance_vector,kq,'nearest'); % 临近插值
drivingforce_Interpolation = interp1(k,numdata(:,8),kq,'nearest'); % 临近插值

kk = 1; % 速度的标号
real_speed = speed_start + 0.000000000001;
distance_period = 0;
distance =0;
for ii = 1:10000000
    bb = find(speed_Interpolation < real_speed);
    kk = size(bb,2) + 1
    acce_weight = ((drivingforce_Interpolation(kk)-resistance_Interpolation(kk))/1.15/1852)*3600;
    acce = acce_weight/usvweight
    Dotar_speed = acce*0.02;    
    real_speed = real_speed + Dotar_speed;
    
    Dotar_distance = (real_speed + Dotar_speed*0.5)*0.02; % 取阶段平均速度
    distance = distance + Dotar_distance;
    if real_speed > speed_end
        time = 0.02 * ii;
        break;
    end   
end