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buoy.cpp
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buoy.cpp
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#include "buoy.h"
#include "config.h"
#include <stdio.h>
#include "sailboat.h"
extern double dt;
extern double simuTime;
Buoy::Buoy(int nb, double xb, double yb, double zb, double ub)
{
// id
n = nb;
// Position
x = xb;
y = yb;
z = zb;
Xdot[0] = 0;
Xdot[1] = 0;
Xdot[2] = 0;
Xdot2[0] = 0;
Xdot2[1] = 0;
Xdot2[2] = 0;
// Command
//volBal = ub;
//volBal = BUOY_CONTROL;
volBal = ub;
// Caracteristiques physiques
mvol = BUOY_MASS/(BUOY_VOLUME-volBal); //kg/m³
// Lorentz variables
sigma = 10.0;
beta = 8.0/3.0;
rho = 28;
k = 0.0;
rho_w = RHO_SALT_WATER;
delta = mvol/rho_w; //delta = rapport de la masse volumique de l'eau sur celui de la bouee
mu = 1.0; //coefficient de resistance de Stokes
theta = 10;
}
void Buoy::lorenz(void)
{
Xdot[0] = sigma*(y-x)*dt;
Xdot[1] = (x*(rho-z)-y)*dt;
Xdot[2] = (k*(x*y-beta*z));//attention au terme de commande
}
void Buoy::sinLine(void)
{
double depth = 40; // m
double freq = 0.05; // Hz
double speed = 10; // m/s
Xdot[0] = 0; //X
Xdot[1] = 0; //Y
//TODO : prendre en entree simutime
//Xdot[2] = speed*sin(2*M_PI*simuTime*freq); //Z
}
void Buoy::pendulum(void)
{
Xdot[0] = y;
Xdot[1] = -sin(x);
Xdot[2] = volBal;
}
void Buoy::stateEq(void)
{
Xdot[0] = sin(0.001*(y+0.9*z));
Xdot[1] = -sin(0.001*(x+z));
Xdot[2] = volBal;
}
void Buoy::eqParticule(void)
{
//vx = -2*sin(y);
//vy = 2*sin(x);
double d2;
double dvxx, dvyx, dvxy, dvyy;
vx = 0;
vy = 0;
dvxx = 0;
dvyx = 0;
dvxy = 0;
dvyy = 0;
double Xi[] = {150,100,-100,-100};
double Yi[] = {100,-100,150,-100};
double phi[] = {5,-5,5,-5};
double Ri = 100;
for (int i=0;i<4;i++)
{
double d2 = (x-Xi[i])*(x-Xi[i])+(y-Yi[i])*(y-Yi[i]);
double u = phi[i]*2*y*(y-Yi[i])*exp(-1*d2/(Ri*Ri))/(Ri*Ri);
double v =-phi[i]*2*x*(x-Xi[i])*exp(-1*d2/(Ri*Ri))/(Ri*Ri);
vx += u;
vy += v;
dvxx += -2*(x-Xi[i])/(Ri*Ri)*u;
dvxy += -2*(y-Yi[i])/(Ri*Ri)*u + phi[i]*2*(2*y-Yi[i])*exp(-1*d2/(Ri*Ri))/(Ri*Ri);
dvyy += -2*(y-Yi[i])/(Ri*Ri)*v;
dvxy += -2*(x-Xi[i])/(Ri*Ri)*v - phi[i]*2*(2*x-Xi[i])*exp(-1*d2/(Ri*Ri))/(Ri*Ri);
}
Dx = vx*dvxx+vy*dvxy;
Dy = vx*dvyx+vy*dvyy;
}
void Buoy::vortex(void)
{
//Dx = vy*0.5*(1+sin(theta*z))*2*cos(y);
//Dy = vx*0.5*(1+sin(theta*z))*2*cos(x);
eqParticule();
//Dx = -4*sin(x)*cos(y);
//Dy = 4*sin(y)*cos(x);
mvol = BUOY_MASS/(BUOY_VOLUME-volBal);
delta = mvol/RHO_SALT_WATER;
Xdot2[0] = delta * Dx - mu * (Xdot[0] - vx);
Xdot2[1] = Dy - mu * (Xdot[1] - vy);
Xdot2[2] = (BUOY_MASS-(BUOY_VOLUME-volBal)*rho_w)*GRAV_CONST;
}
void Buoy::rotation(void)
{
double xd;
double yd;
xd = cos(theta*z)*vx-sin(theta*z)*vy;
yd = cos(theta*z)*vy+sin(theta*z)*vx;
vx = xd;
vy = yd;
}
void Buoy::setCommand(double ub)
{
volBal = ub;
}
int Buoy::getNumber(void)
{
return n;
}
double* Buoy::getPos(void)
{
double* xd = new double[4];
xd[0] = sqrt(pow(Xdot[0],2.0)+pow(Xdot[1],2.0)+pow(Xdot[2],2.0));
xd[1] = x;
xd[2] = y;
xd[3] = z;
return xd;
}
void Buoy::clock(void) // The model is described in "L. Jaulin Modélisation et commande d'un bateau à voile, CIFA2004, Douz (Tunisie)"
{
// On met à jour la position de la bouee
// On travaille en dynamique donc pfd m*a = Somme(Forces)
//lorenz();
/*
printf("Buoy acc x : %f speed : %f \n",Xdot2[0],Xdot[0]);
printf("Buoy acc y : %f speed : %f \n",Xdot2[1],Xdot[1]);
printf("Buoy acc z : %f speed : %f \n\n\n",Xdot2[2],Xdot[2]);
*/
vortex();
//rotation();
/*
printf("Buoy acc x : %f speed : %f \n",Xdot2[0],Xdot[0]);
printf("Buoy acc y : %f speed : %f \n",Xdot2[1],Xdot[1]);
printf("Buoy acc z : %f speed : %f \n",Xdot2[2],Xdot[2]);
*/
Xdot[0] = Xdot[0]+dt*Xdot2[0];
Xdot[1] = Xdot[1]+dt*Xdot2[1];
Xdot[2] = Xdot[2]+dt*Xdot2[2];
x = x+dt*Xdot[0];
y = y+dt*Xdot[1];
z = z+dt*Xdot[2];
//printf("Buoy acc : %f speed : %f \n",Xdot2[0],Xdot[0]);
printf("Buoy state %d : %f %f %f \n",n,x,y,z);
fflush(stdout);
}