WOLFRAM SYSTEM MODELER
SubmarineSimplified model of a submarine with buoyancy dynamics and translational damping |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Control.Submarine"]
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Information
Wolfram Language Documentation Examples
This library contains models used in the documentation of system modeling functionality in Wolfram Language. These examples and this library can be explored in the Wolfram Language documentation.
Parameters (9)
| R |
Value: 12 * uniformSizeScale Type: Radius (m) Description: Effective radius for a plane section of the submarine at its midsection |
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| L |
Value: 170 * uniformSizeScale Type: Length (m) Description: Total length of submarine |
| semiMajorAxisFront |
Value: 35 * uniformSizeScale Type: Length (m) Description: Effective semi-major axis of ellipsoid to approximately model frontside of submarine |
| semiMajorAxisBack |
Value: 60 * uniformSizeScale Type: Length (m) Description: Effective semi-major axis of ellipsoid to approximately model backside of submarine |
| rho0 |
Value: 510 Type: Density (kg/m³) Description: Average density of submarine |
| rho |
Value: 2 * rho0 Type: Density (kg/m³) Description: Density of fluid |
| VSub |
Value: 64710.819 * uniformSizeScale ^ 3 Type: Volume (m³) Description: Volume of submarine, computed from the shape used in subShape |
| b |
Value: 5000000 Type: TranslationalDampingConstant (N⋅s/m) Description: Linear translational damping constant |
| uniformSizeScale |
Value: 1 Type: Length (m) Description: Factor by which dimensions of submarine are rescaled |
Connectors (3)
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f |
Type: RealInput Description: Vertical external force applied at the center of mass of the submarine |
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deltarho |
Type: RealInput Description: Deviation from submarines's average density |
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y |
Type: RealOutput Description: Position of center of mass with respect to a frame placed at the surface of the fluid |
Components (7)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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fluidSurface |
Type: Rectangle Description: Visualizing a planar rectangular surface |
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buoyancyDynamics |
Type: BuoyancyDynamics Description: Approximately models buoyancy dynamics, representing the shape of the submarine as a cylinder attached to two halves of ellipsoids |
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position |
Type: Position Description: Forced movement of a flange according to a reference position |
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prismatic |
Type: Prismatic Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange) |
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subBody |
Type: Body Description: Rigid body with mass, inertia tensor and one frame connector (12 potential states) |
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subShape |
Type: FixedShape Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector) |