The invention relates to a floating support installation model test control method based on environmental force feedforward. An anemometer, a flow meter and a wave height meter are arranged at the gravity center position of a ship, the corresponding wind speed, flow speed and wave height are monitored in real time, the environmental load borne by the ship at the moment is estimated, and the environmental load is added into control force tau = kp * x + kd * v + ki * summaxdt + F wind feedforward + F flow feedforward + F wave feedforward in advance. A whole set of dynamic positioning float-overinstallation model test system is constructed, the positioning error of the barge is reduced, and smooth installation of the floating support into the barge is ensured; and data information obtained through measurement provides a high reference value for engineering application.
本发明涉及一种基于环境力前馈的浮托安装模型试验控制方法,在船舶重心位置设置风速计、流速计和浪高仪,实时监测对应的风速、流速、波高,估算出船舶此时所受的环境载荷,提前将其加入到控制力:τ=k*x+k*v+k*∫xdt+F+F+F;本发明构建了整套动力定位浮托安装模型试验系统;减小了驳船的定位误差,保证浮托安装进船的顺利进行;测量得到的数据信息对工程应用提供了较高的参考价值。
Floating support installation model test control method and system based on environmental force feedforward
基于环境力前馈的浮托安装模型试验控制方法及系统
2020-08-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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