Marine systems simulation
Virtual current in direction
SimObjects » FhSim Bio » Artificial
+ Collaboration diagram for Virtual current in direction:

The virtual current is a manipulable current field. Error signals are used to change the magnitude and direction of the current at various depths. The adaptation is using a PID controller with integral saturation for each error signal. The sim object

Input ports

Name Width Description
PlanarError_L1 .. PlanarError_L<N> 2 Error signal to use in adaptation. One for each depth layer, in total N.

Output ports

Name Width Description
PlanarCurrent_L1 .. PlanarCurrent_L<N> 2 Estimated current at specified DepthLayersThicknesses.

Configuration parameters

Name Width Description
ProportionalGain 1 \(P_p (p_d - p_e)\).
IntegralGain 1 \(P_i\int_0^t (p_d - p_e)\).
IntegralSaturation 1 \(abs(\max(\int_0^t (p_d - p_e))) = sat\).
DerivativeGain 1 \(P_d (\dot{e})\).
DerivativeTimeConstant 1 Time contant of the dynamics of error derivative.
DepthLayerThickness N Array of depths at which the virtual inputs will manipulate the current. Between these points, linear interpolation is used (and below/above boundary depths: the closest one).