Automatic Torpedo

Description

The main idea of this torpedo is that it is capable of destroying both surface targets (ships) and underwater targets (submarines) – the torpedo automatically detects the target type and switches guidance modes.

The first (surface) mode is that the depth of the torpedo movement is maintained at the required level by the programmed PID controller, the stability of the torpedo is ensured by the roll rudders, and targeting is performed using the yaw rudders in this way: the torpedo calculates the interception point so that the trajectory of the torpedo was the most effective (almost direct). This mode allows the torpedo to be very accurate.

The second mode is necessary for the destruction of underwater targets – in this case the torpedo also calculates the necessary lead point, but is guided using the chase method (the torpedo's velocity vector is always directed towards the interception point).

So that the torpedo does not collide with the sea floor surface, it is programmed to notice the collision in time and change the trajectory.

If the torpedo does not hit the target, then the non-contact detonator will work and the target will receive damage in any case.

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Pay attention

– The program is designed to work at a fps value of 60.

–Don't warp the time while the torpedo is in operation, this may cause it to behave incorrectly.

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Therefore, I created another program that is more undemanding to FPS, but it does not provide the maximum efficiency of the torpedo (too complex a trajectory and a sharp avoidance of a collision with the sea floor surface). It is located in the red chip on the bow of the boat, just paste the program into the main chip of the torpedo (don't forget to change the message "T1 Start" and "T2 Start" for the right and left torpedo respectively).

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Controls

1) Select a target manually or activate AG2 (there will be a target closest to you).

2) Turn to the target with the bow of the boat (so that the target is ahead of the boat, follow the text prompt).

3)Activate AG1 (prepare torpedoes for launch).

4) Activate AG3 - launch a torpedo.

– Throttle axis to move the boat forward, yaw axis to turn left/right, roll axis to stabilize the boat.

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Torpedo characteristics:

Range: 250-10000 meters.

Minimum depth: ~ 5 meters.

Average speed 75 m/s.

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Thank GoldenShadowGS for the speed of the target relative to the surface of the planet.

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Twins in action

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P.S. At the moment this torpedo is outdated so I'll try to make a better version soon.