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

Claim 3:
4. The method of operating the fully automated towing, alignment and hangar system suitable for an offshore operation helicopter according to claim 1, wherein the step S33 specifically comprises following steps:
S331. calculating the coordinate transformation relationship from the helicopter coordinate system to the deck coordinate system, wherein the coordinates of the origin of the helicopter coordinate system in the deck coordinate system are first calculated, that is, the coordinates (xG, yG) of the helicopter mooring bar in the deck coordinate system are as follows:, {
        
         
          
           
            
             x
             G
            
            =
            
             x
             1
            
           
          
         
         
          
           
            
             y
             G
            
            =
            
             y
             1
            
           
          
         
        
       
      
      
       
        (
        
         
          y
          1
         
         <
         
          
           Y
           4
          
          +
          l
         
        
        )
       
      
     
     
      
       
        {
        
         
          
           
            
             x
             G
            
            =
            
             -
             
              [
              
               
                
                 (
                 
                  
                   
                    α
                    l
                   
                   ⁢
                   tan
                   ⁢
                   
                    α
                    2
                   
                  
                  +
                  
                   y
                   1
                  
                  -
                  
                   Y
                   4
                  
                  -
                  l
                 
                 )
                
                ×
                sin
                ⁢
                α
               
               -
               
                
                 x
                 1
                
                
                 cos
                 ⁢
                 α
                
               
              
              ]
             
            
           
          
         
         
          
           
            
             y
             G
            
            =
            
             
              
               (
               
                
                 
                  α
                  l
                 
                 ⁢
                 tan
                 ⁢
                 
                  α
                  2
                 
                
                +
                
                 y
                 1
                
                -
                
                 Y
                 4
                
                -
                l
               
               )
              
              ×
              sin
              ⁢
              α
             
             +
             
              Y
              4
             
             +
             
              
               α
               l
              
              ⁢
              tan
              ⁢
              
               α
               2
              
             
            
           
          
         
        
       
      
      
       
        (
        
         
          
           Y
           4
          
          +
          l
         
         ≤
         
          y
          1
         
         <
         
          
           Y
           4
          
          +
          l
          +
          Y
         
        
        )
       
      
     
     
      
       
        {
        
         
          
           
            
             x
             G
            
            =
            
             -
             
              X
              2
             
            
           
          
         
         
          
           
            
             y
             G
            
            =
            
             
              (
              
               
                y
                1
               
               -
               
                2
                ⁢
                l
               
               -
               Y
              
              )
             
             +
             
              Y
              5
             
             +
             
              Y
              6
             
             +
             
              Y
              7
             
            
           
          
         
        
       
      
      
       
        (
        
         
          
           Y
           4
          
          +
          l
          +
          Y
         
         ≤
         
          y
          1
         
         <
         
          
           Y
           4
          
          +
          
           2
           ⁢
           l
          
          +
          Y
          +
          
           Y
           8
          
         
        
        )
       
      
     
    
   
   
    
     (
     6
     )
    
   
  
 

wherein y1 represents a movement position of the quick mooring device along the deck towing track, obtained by an encoder installed on a towing power device; Y4,Y5,Y6,Y7,Y8 respectively represent lengths of a first segment of the deck towing track, a second segment of the deck towing track, a third segment of the deck towing track, a fourth segment of the deck towing track and a fifth segment of the deck towing track in ay direction; Y represents a length of the third segment of the deck towing track; l represents an arc length of the second segment of the deck towing track and the fourth segment of the deck towing track; X2 represents an x direction coordinate of a circle center O2 corresponding to an arc of the fourth segment of the deck towing track; a represents a circle center angle corresponding to the arcs of the second segment of the deck towing track and the fourth segment of the deck towing track;
S332. calculating position coordinates (x′A, y′A) of the steering wheel in the deck coordinate system, a position coordinate (x′B, y′B) of the first wheel in the deck coordinate system and a position coordinate (x′C, y′C) of the second wheel in the deck coordinate system, which are respectively presented as follows:, {
     
      
       
        
         
          
           x
           A
           ′
          
          =
          
           
            
             (
             
              
               L
               5
              
              +
              
               L
               4
              
             
             )
            
            ⁢
            sin
            ⁢
            φ
           
           -
           
            x
            G
           
          
         
        
       
       
        
         
          
           y
           A
           ′
          
          =
          
           
            
             (
             
              
               L
               5
              
              +
              
               L
               4
              
             
             )
            
            ⁢
            
             (
             
              1
              -
              
               cos
               ⁢
               φ
              
             
             )
            
           
           +
           
            y
            G
           
          
         
        
       
      
      ⁢
      
      
       {
       
        
         
          
           
            
             x
             B
             ′
            
            =
            
             
              
               L
               2
              
              ⁢
              sin
              ⁢
              φ
             
             +
             
              W
              2
             
             -
             
              x
              G
             
            
           
          
         
         
          
           
            
             y
             B
             ′
            
            =
            
             
              
               L
               2
              
              ⁢
              cos
              ⁢
              φ
             
             +
             
              y
              G
             
            
           
          
         
        
        ⁢
        

        
         {
         
          
           
            
             
              
               x
               C
               ′
              
              =
              
               
                
                 L
                 2
                
                ⁢
                sin
                ⁢
                φ
               
               -
               
                W
                2
               
               -
               
                x
                G
               
              
             
            
           
           
            
             
              
               y
               C
               ′
              
              =
              
               
                
                 L
                 2
                
                (
                
                 1
                 +
                 
                  cos
                  ⁢
                  φ
                 
                
                )
               
               +
               
                y
                G
               
              
             
            
           
          
          .
         
        
       
      
     
    
   
   
    
     (
     7
     )