How to use AUVSimulator
Setting
the simulation parameters
Storing the results of a Simulation
AUVSimulator
is distributed as a zip file. Unzip the file do the C:vrtp/demo/auv/MatlabWaveSimulator.
All components are in the AUVSimulator directory under the chose
directory. To get access to AUVSimulator, open Matlab and change to the
AUVSimulator directory. Open the AUVSimulator.mdl file from the Matlab Command
Window.
To benefit from 3D graphic viewers install the DIS-Java-VRML
distribution. If you do not intend to use the 3D viewers, use the
AUVSimulatorNoNetworking.mdl file.
AUVSimulator is a Simulink model. Therefore general Simulink
user’s manual applies here.
Double-Clicking on the blue button (bottom right) will open the
different parameter files for further modifications :
·
Parameters.m
: general simulation parameters. See the existing
configurations.
·
DynamicsParameters.m
: AUV dynamic model parameters and initial conditions for the vehicle.
·
EnvironmentParameters.m:
Environment parameters
·
SensorsParameters.m:
Parameters for sensor models.
·
ControlParameters.m
: Includes the parameters of the control scheme used. It does comprehend the
tuning of controllers and the assumed vehicle dynamic model parameters if used
in an internal model.
·
NetworkingParameters.m
: parameters for networking function (output to 3D viewers). For use on the
campus, please do not change the settings except the Entity ID parameter if
needed (multiple users at the same time). Similar changes have to be made in
the 3d viewer wrl file. Contact Don Brutzman (DIS-Java-VRML)
for further details.
Modify parameters as desired in the specific files. Save
modifications before starting the simulation. Saving will overwrite previous
parameters. If the user wants to use the parameters for further simulations, he
can save the specific parameter file with a new name and name the configuration
(see top of the specific parameters file). Different
configurations are already available. If a new configuration is created,
please update the configurations file.
After modifying parameters, Double-click on the green button and
start the simulation as any Simulink simulation.
Simulation duration is set up through the simulation/parameters
menu of AUVSimulator window.
If the DIS-Java-VRML distribution
is installed in the machine, a 3D graphic viewer can be launched within AUV
simulator. To launch the 3D viewer, double-click on the 3D Viewers subsystem
and double click on the desired virtual world. Due to a Matlab bug (Java Interface
Engine), first attempt to launch simulation will fail. Click the “play” button
twice the first time and discard the error message that appears. If
DIS-Java-VRML is not installed on the machine use the
AUVSimulatorNoNetworking.mdl model.
Differential equation solution resolution method is the simple
Euler method with fixed integration step 0.1s. Other can be chosen.
To browse the model double-click on the blue button labeled
“Simulator”. If modifications are required please follow the guidelines.
To store the results double click on the corresponding orange top
right button and follow the instructions given on the Matlab command line.