1function simplifiedVesselModelSim(time,eta0,nu0,tau,nu_c,MRB,MA,Bv,Dp,G) 2%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 3% Nonlinear Unified Seakeeping and Maneuvering Model without Fluid Memory, 4% based on Perez & Fossen 2017. 5% 6% 7%MISSING: Fluid memory and Cross-Flow Drag and Surge Resistance 8% 9% Author: Markus Fossdal 2018. 10%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 11 12if time >= 20 && time <= 21 13%% Parameters 14% MRB = vessel.MRB; %Rigid-body mass matrix 15M = MRB + MA; 16M_inv = inv(M);%Rigid-body 17% MA = vesselABC.MA; %Added mass matrix 18% Bv = vessel.Bv; %Linear viscous damping matrix 19% Dp = vesselABC.Dp; %Linear potential damping matrix 20% G = vesselABC.G; % Stiffness matrix 21 22L = [0 0 0 0 0 0; %Selection matrix 23 0 0 0 0 0 1; 24 0 0 0 0 -1 0; 25 0 0 0 0 0 0; 26 0 0 0 0 0 0; 27 0 0 0 0 0 0]; 28 29 30nu_r = nu0-nu_c; %Relative velocity 31U_r = nu_r(1,1); %Relative speed 32CRB = U_r * MRB * L; % Linearized Coriolis Matrix 33CA = U_r*MA*L; %Added mass matrix 34 35J = 1; 36 37%% Computations 38 39%nu_dot = ; 40%[J,~,~] = eulerang(eta(1,4),eta(1,5),eta(1,6)); 41%eta_dot = ; 42 43tspan = [0 50]; 44y0 = [nu0 eta0]; 45 46figure(); 47 ; 48 49 50u=5; 51end 52 53end 54