Compute derivatives in dynamics mode

Question

160 views12 March 2024Dynamics simulations

anonuser72 12 March 2024 0 Comments

How do we compute derivatives in dynamics mode?

score 0 · Answer 1 · 2024-03-12T16:13:35+00:00

Derivatives are computed using the ‘UnitDelay’ block. For instance, to compute the derivative of heel:

"Heel_prev" : BL.UnitDelay({Src : "{Heel}" }), // deg

"Heel_dot" : "({Heel}-{Heel_prev})/{Root.dt}", // deg/s

Note that the boat states derivatives (dxdt, dydt, dzdt, dedt, dfdt, etc.) are already computed by the ‘RigidBody’ block.If “Body” is defined as :

"Body" : BL.RigidBody({}),

Then the boat state derivatives are given by Body.dxdt, Body.dydt, etc.