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上传时间: 2015-09-22
详细说明： Moon Lander Simulator in FuzzySim The Moon lander simulator is a very simple moon landing simulator based on the LEM from Apollo 11, it works in only 2 dimensions and ignores spaceship roll/rotation. The simulation begins after the space ship has de-orbited the moon so most of the 8845kg of fuel is gone leaving just enough for landing. The most basic form of fuzzy controller you should write has 2 inputs Height and Y velocity (Y velocity is downwards speed if you don’t know, height is height from the surface of the moon). It has only 1 output a throttle setting in the range 0-100. The Lander has no throttle settings between 0 and 10% so the simulator assumes all settings below 10% are the same as off. The basic controller can/should be able to solve the easy and medium settings of the simulator. A more advanced controller is needed when the simulator is on the hard setting and the inputs to that system are Height, Y velocity and X velocity. There are 3 outputs needed in this mode the right reaction control throttle in the range 0-5, the left reaction control throttle in the range 0-5 and the main engine a throttle setting in the range 0-100. A more advanced controller is needed when the simulator is on the Vhard setting and the inputs to that system are Height, Y velocity, X velocity and distance to the center of the safe zone (which can have quite a range). There are 3 outputs needed in this mode the right reaction control throttle in the range 0-5, the left reaction control throttle in the range 0-5 and the main engine a throttle setting in the range 0-100. The safe zone is 120 meters long and can be seen in the simulator as a red line. It is safe to land when within 60 meters of the safe spot. Note in the simulation the Y scale changes with screen size but the x scale is always 1 meter per pixel. Movement off of the screen is allowed. For those who are interested the effect of the moons gravity is 1.633m/s/s Initial conditions vary based on the difficulty setting of the simulator. ...展开收缩
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