The invention discloses a multi-point mooring positioning four-point mooring model control method. The method comprises the steps that a four-point mooring positive solution absolute motion model and a four-point mooring positive solution relative motion model are established; obtaining a four-point mooring inverse solution model according to the four-point mooring positive solution absolute motion model and the four-point mooring positive solution relative motion model; establishing a driving control model between the mooring motor and the mooring line; a four-point mooring multi-motor cooperative positioning control model is established according to the four-point mooring inverse solution model and the driving control model, and the position deviation of the working positioning points is adjusted by adjusting the rotating angles of four mooring motors in the four-point mooring multi-motor cooperative positioning control model, so that four-point mooring multi-motor cooperative positioning control is achieved. And the mooring platform is positioned in the preset area. Multi-point mooring positioning is decomposed into four-corner-symmetrical multi-group four-point mooring control, and the stability, rapidity and accuracy of mooring platform positioning can be effectively achieved through multi-group four-point mooring distributed cooperative control.
本发明公开了一种多点系泊定位四点系泊模型控制方法,该方法包括:建立四点系泊正解绝对运动模型和四点系泊正解相对运动模型;根据四点系泊正解绝对运动模型和四点系泊正解相对运动模型得到四点系泊逆解模型;建立系泊电机与系泊缆之间的驱动控制模型;根据四点系泊逆解模型和驱动控制模型建立四点系泊多电机协同定位控制模型,通过调节四点系泊多电机协同定位控制模型中的四个系泊电机转角,调节工作定位点位置偏差,以实现四点系泊多电机协同定位控制,将系泊平台定位在预设区域内。本发明将多点系泊定位分解为四角对称的多组四点系泊控制,通过多组四点系泊分布式协同控制能够有效实现系泊平台定位的稳定性、快速性和准确性。
Multi-point mooring positioning four-point mooring model control method
多点系泊定位四点系泊模型控制方法
2023-04-25
Patent
Elektronische Ressource
Chinesisch
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