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

Claim 4:
5. The method of operating the fully automated towing, alignment and hangar system suitable for the offshore operation helicopter according to claim 1, wherein in the step S32, the towing indication line comprises a left towing indication line and a right towing indication line, a symmetrical median line of the left towing indication line and the right towing indication line refers to the deck towing track, and a mathematical equation of the deck towing track is as follows:, {
     
      
       
        
         x
         =
         0
          
        
       
       
        
         (
         
          0
          ≤
          y
          ≤
          
           Y
           4
          
         
         )
        
       
      
      
       
        
         
          
           (
           
            
             Y
             5
            
            
             sin
             ⁢
             α
            
           
           )
          
          2
         
         =
         
          
           
            (
            
             x
             +
             
              
               Y
               5
              
              
               sin
               ⁢
               α
              
             
            
            )
           
           2
          
          +
          
           
            (
            
             y
             -
             
              Y
              4
             
            
            )
           
           2
          
           
         
        
       
       
        
         (
         
          
           Y
           4
          
          <
          y
          ≤
          
           
            Y
            4
           
           +
           
            Y
            5
           
          
         
         )
        
       
      
      
       
        
         y
         =
         
          
           
            -
            cot
           
           ⁢
           α
           ⁢
           x
          
          +
          
           (
           
            
             Y
             4
            
            +
            
             Y
             5
            
            +
            
             
              Y
              5
             
             ⁢
             
              cot
              2
             
             ⁢
             α
            
            -
            
             
              l
              ⁢
              cot
              ⁢
              α
             
             α
            
           
           )
          
         
        
       
       
        
         (
         
          
           
            Y
            4
           
           +
           
            Y
            5
           
          
          <
          y
          ≤
          
           
            Y
            4
           
           +
           
            Y
            5
           
           +
           
            Y
            6
           
          
         
         )
        
       
      
      
       
        
         
          
           
            (
            
             
              Y
              7
             
             
              sin
              ⁢
              α
             
            
            )
           
           2
          
          =
          
           
            
             (
             
              x
              -
              
               X
               2
              
             
             )
            
            2
           
           +
           
            
             (
             
              y
              -
              
               Y
               4
              
              -
              
               Y
               5
              
              -
              
               Y
               6
              
              -
              
               Y
               7
              
             
             )
            
            2
           
          
         
          
        
       
       
        
         (
         
          
           
            Y
            4
           
           +
           
            Y
            5
           
           +
           
            Y
            6
           
          
          <
          y
          ≤
          
           
            Y
            4
           
           +
           
            Y
            5
           
           +
           
            Y
            6
           
           +
           
            Y
            7
           
          
         
         )
        
       
      
      
       
        
         x
         =
         
          -
          
           X
           3
          
           
         
        
       
       
        
         (
         
          
           
            Y
            4
           
           +
           
            Y
            5
           
           +
           
            Y
            6
           
           +
           
            Y
            7
           
          
          <
          y
          ≤
          
           
            Y
            4
           
           +
           
            Y
            5
           
           +
           
            Y
            6
           
           +
           
            Y
            7
           
           +
           
            Y
            8
           
          
         
         )
        
       
      
     
    
   
   
    
     (
     8
     )
    
   
  
 

where X3 represents a distance between they axis and the fifth segment of the deck towing track;
the trajectory equation of the left towing indication line is as follows:, {
     
      
       
        
         x
         =
         
          -
          
           X
           1
          
         
        
       
       
        
         (
         
          0
          ≤
          y
          ≤
          
           Y
           1
          
         
         )
        
       
      
      
       
        
         y
         =
         
          
           
            -
            cot
           
           ⁢
           α
           ⁢
           x
          
          +
          
           (
           
            
             Y
             1
            
            -
            
             cot
             ⁢
             α
             ⁢
             
              X
              1
             
            
           
           )
          
         
        
       
       
        
         (
         
          
           Y
           1
          
          <
          y
          <
          
           
            Y
            1
           
           +
           
            Y
            2
           
          
         
         )
        
       
      
      
       
        
         x
         =
         
          
           -
           
            
             Y
             2
            
            
             cot
             ⁢
             α
            
           
          
          -
          
           X
           1
          
         
        
       
       
        
         (
         
          
           
            Y
            1
           
           +
           
            Y
            2
           
          
          ≤
          y
          ≤
          
           
            Y
            1
           
           +
           
            Y
            2
           
           +
           
            Y
            3
           
          
         
         )
        
       
      
     
    
   
   
    
     (
     9
     )
    
   
  
 

Wherein X1 represents a distance between the left towing indication line and the deck towing track; Y1,Y2,Y3 respectively represent the lengths of a first segment of the left towing indication line, a second segment of the left towing indication line and a third segment of the left towing indication line in they direction;
the trajectory equation of the right towing indication line is as follows:, {
     
      
       
        
         
          x
          =
          
           X
           1
          
         
        
        
         
          (
          
           0
           ≤
           y
           ≤
           
            Y
            1
           
          
          )
         
        
       
       
        
         
          y
          =
          
           
            
             -
             cot
            
            ⁢
            α
            ⁢
            x
           
           +
           
            (
            
             
              Y
              1
             
             +
             
              cot
              ⁢
              α
              ⁢
              
               X
               1
              
             
            
            )
           
          
         
        
        
         
          (
          
           
            Y
            1
           
           <
           y
           <
           
            
             Y
             1
            
            +
            
             Y
             2
            
           
          
          )
         
        
       
       
        
         
          x
          =
          
           
            X
            1
           
           -
           
            
             Y
             2
            
            
             cot
             ⁢
             α
            
           
          
         
        
        
         
          (
          
           
            
             Y
             1
            
            +
            
             Y
             2
            
           
           ≤
           y
           ≤
           
            
             Y
             1
            
            +
            
             Y
             2
            
            +
            
             Y
             3
            
           
          
          )
         
        
       
      
      .
     
    
   
   
    
     (
     10
     )