Joubert BB2 Hydrodynamic Model Simulation

This is a MATLAB/Simulink model for the Joubert BB2 vehicle. The intention of this model is to provide a reduced-order approximation of the CFD model as a tool for research in control of highly nonlinear systems. Control algorithms developed with this model may be applied to the more costly CFD model near the end of the development phase.

Main Components:

• Simulink Model (Model_6DOF.slx)
• Configuration File (control_params.m)
• If using the path-following controller: 3D path control point specification (TC_{}.xlsx)

There are several simulations set to run out of the box, which can be selected by setting the control_mode variable in the run.m file:

1. Horizontal Zig-Zag
2. ?
3. ?
4. Vertical Zig-Zag
5. Path-Following
6. Custom

Control modes 1-4 are primarily used for verification of the hydrodynamic properties, but can also be a useful baseline to check that everything runs properly.

Getting Started:

To run a simulation,

1. Open run.m and set the desired value for control_mode (ex. control_mode=5)
2. Execute the run.m file
3. Open Model_6DOF.slx and click the 'Run' button in the simulation pane

Position and velocity data should start appearing in the Bx and Bv scopes, respectively, in Model_6DOF.slx. These data streams show how the vehicle moves as the simulation progresses.