Assignment 2 4 questions on 3 pages 55 marks 5% of final grade

Due: Oct 18, 2016, during lecture

This is a group assignment. Please submit an “Expectation of Originality” form signed by all team
members.

The questions refer to the following three hovercrafts, and the table of parameters on page 2:

(A)

(A) Thrust fan located 15 cm behind center of mass

(B)

(B) Thrust fan located at center of mass

(C)

(C) Thrust fan located 15 cm in front of center of mass

Parameter Hovercraft (A) Hovercraft (B) Hovercraft (C)
m (kg) 0.8 0.8 0.8
I (kg·m2) 0.02 0.015 0.02
d (m) -0.15𝑥̂𝑏 0 0.15𝑥̂𝑏

1. (10 marks) Review the datasheets for each of the 2 fan options (the AFB1212SH and the MEC0251V1,
provided in the Datasheets folder near the top of the Moodle page).

(a) For each fan, make a linear approximation of the AirPressure-vs-AirFlow curve.

(b) We can relate this linear relationship to Fthrust = F0-γv [Note: γ is a constant representing the slope of
the F(v) line]. For each fan, based on your approximation in (a), what are the values for F0 and for γ?

2. (15 marks) Consider the state space of the hovercraft(s) to be X = [x,y,θ,vx,vy,ω]’

Write the state space differential equation, i.e. dX/dt = f(X) for each hovercraft (A), (B), and (C) for each
of the following sets of assumptions:

(i) Constant Fthrust ; no friction

(ii) Fthrust = F0-γv ; no friction

(iii) Fthrust = F0-γv ; with (2D) friction [μ = 0.2]

3. (25 marks) Each of the three hovercrafts are stuck in a corner as shown below:

(A) (B) (C)

To try to get out of the corner, a thruster angle of ϕ = π/2 is used (as shown), and a thrust force of 1 N.

Simulate these three situations by incorporating your equations from 1.(i) into the MATLAB code
provided. Provide the simulation code and output with your submission. (NOTE: don’t worry if the
simulation output shows the hovercraft going through the walls; the walls aren’t modeled and the
simulation is meant to be informative without needing to perfectly reflect reality)

Describe the situation of (A), (B), and (C) at the end of the simulation time, and discuss whether this is
now a good situation for the hovercraft to be in. Note that typical servos (including the ones available
for your competition) are limited to angles of ϕ = [-π/2, π/2].

(Optional BONUS) Simulate these three situations by incorporating your equations either from 2.(ii) (5
bonus marks) or 2.(iii) (10 bonus marks) into the MATLAB code provided. Provide the simulation code
and output with your submission.

4. (5 marks) The purpose of the simulations in Question 3 are to provide something to consider with
regards to which thruster location is preferable for situations where the craft is stuck in a corner.

For a simulation with this specific purpose in mind, do you think it is or is not appropriate to neglect
non-constant thrust and/or friction? Explain why or why not.