The invention discloses a coordinate transformation method for attitude measurement values of a floating body of a floating fan, which comprises the following steps of: firstly, defining two coordinate systems, namely a floating body fixed coordinate system and a cabin rotating coordinate system, mounting an attitude sensor on the floating body or a tower footing, and enabling the mounting direction to be consistent with the initial yaw direction of a cabin; if the pitching inclination angle and the rolling inclination angle in the operation process of the floating type fan are both smaller than the threshold value, the pitching inclination angle and the rolling inclination angle of the orientation of the cabin can be calculated through an approximate calculation method; if the pitching or rolling inclination angle in the operation process of the floating type fan is larger than a threshold value, the pitching and rolling inclination angle of the orientation of the cabin needs to be calculated through an accurate calculation method. According to the invention, the measured value of the attitude sensor at the floating body or the tower footing is converted from the floating body fixed coordinate system to the cabin rotating coordinate system, so that the converted measured value can be used for active control.
本发明公开了一种漂浮式风机浮体姿态测量值坐标变换方法,首先定义两个坐标系,分别为浮体固定坐标系和机舱旋转坐标系,姿态传感器安装在浮体或塔基处,安装方向与机舱初始偏航方位一致。如果漂浮式风机运行过程中的纵摇和横摇倾角都小于阈值,则可用近似计算方法计算机舱朝向的纵摇、横摇倾角;如果漂浮式风机运行过程中的纵摇或横摇倾角大于阈值,则需要采用精确计算方法计算机舱朝向的纵摇、横摇倾角。本发明将在浮体或塔基处的姿态传感器测量值从浮体固定坐标系转换到机舱旋转坐标系中,使得转换后的测量值能用于主动控制。
Coordinate transformation method for attitude measurement value of floating body of floating fan
一种漂浮式风机浮体姿态测量值坐标变换方法
2022-11-01
Patent
Electronic Resource
Chinese
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