Patent ID: 11912436
Assignee: YANSHAN UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The method of operating fully automated towing, alignment and hangar system suitable for the an offshore operation helicopter according to claim 1, wherein in the step S31, the position coordinates of the steering wheel in the helicopter coordinate system are as follows:, {
     
      
       
        
         
          x
          A
         
         =
         
          
           (
           
            
             L
             4
            
            +
            
             L
             5
            
           
           )
          
          ⁢
          sin
          ⁢
          φ
         
        
       
      
      
       
        
         
          y
          A
         
         =
         
          
           (
           
            
             L
             4
            
            +
            
             L
             5
            
           
           )
          
          ⁢
          
           (
           
            1
            -
            
             cos
             ⁢
             φ
            
           
           )
          
         
        
       
      
     
    
   
   
    
     (
     3
     )
    
   
  
 

wherein xA, yA respectively represent an x0 direction coordinate and a y0 direction coordinate of the steering wheel in the helicopter coordinate system; and L5 represents a distance between the rear wall of the quick mooring device and the center of the helicopter mooring bar;
a position coordinate of the first wheel in the helicopter coordinate system is as follows:, {
     
      
       
        
         
          x
          B
         
         =
         
          
           
            L
            2
           
           ⁢
           sin
           ⁢
           φ
          
          +
          
           W
           2
          
         
        
       
      
      
       
        
         
          y
          B
         
         =
         
          
           L
           2
          
          ⁢
          cos
          ⁢
          φ
         
        
       
      
     
    
   
   
    
     (
     4
     )
    
   
  
 

wherein xB, yB respectively represent an x0 direction coordinate and a y0 direction coordinate of the first wheel in the helicopter coordinate system; L2 represents a vertical distance from the helicopter mooring bar to a wheel shaft of the helicopter steering wheel, which is a central axis of the first wheel and the second wheel; W represents a wheel pitch of the first wheel and the second wheel;
a position coordinates of the second wheel in the helicopter coordinate system is as follows:, {
     
      
       
        
         
          x
          C
         
         =
         
          
           
            L
            2
           
           ⁢
           sin
           ⁢
           φ
          
          -
          
           W
           2
          
         
        
       
      
      
       
        
         
          y
          C
         
         =
         
          
           L
           2
          
          (
          
           1
           +
           
            cos
            ⁢
            φ
           
          
          )
         
        
       
      
     
    
   
   
    
     (
     5
     )
    
   
  
 

wherein xC, yC representatively represent an x0 direction coordinate and a y0 direction coordinate of the second wheel in the helicopter coordinate system.