Anchoring system semi-physical simulation method for fast virtual-real switching
Through distributed modeling and seamless switching technology, the problem of real-time environment simulation and communication differences in mooring system simulation was solved, and rapid switching between virtual prototypes and real prototypes was achieved, which improved simulation efficiency and accuracy and reduced development costs.
Patent Information
- Application Number
- CN202510658732.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-21
- Publication Date
- 2025-09-16
AI Technical Summary
Existing technologies have difficulty simulating the interaction between real-time changing ocean environmental conditions and mooring systems, resulting in unsatisfactory control effects. In addition, communication differences between virtual prototypes and real prototypes make it impossible to quickly switch between simulation tests and real tests, increasing debugging time.
A distributed modeling approach is used to establish a mooring system model, including the hydrodynamic environment, platform subsystem, gravity anchor subsystem, and cable management subsystem. Sensor signals are simulated through a communication system model to ensure consistent data interaction between the simulation system and the physical system, thereby achieving seamless switching between virtual prototypes and real prototypes.
It improves simulation efficiency and accuracy, reduces development costs, enhances system flexibility, and enables the selection of appropriate test methods at different stages to quickly verify and adjust the performance of each module.
Smart Images
Figure CN120652837A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of mooring system simulation and relates to a semi-physical simulation method of a mooring system with rapid virtual-real switching. Background Art
[0002] With the increasing application of mooring systems in deep-sea applications, the demand for modeling and simulation of mooring systems is also increasing. This is especially true when faced with complex marine environments. Existing technologies struggle to simulate the interaction between real-time changing environmental conditions and control systems, resulting in mooring systems being unable to achieve ideal control effects in actual applications. Hardware-in-the-loop simulation, also known as semi-physical or hardware-in-the-loop simulation, plays an important engineering role in the development of complex systems such as rockets, aircraft, and mooring systems. Researching corresponding hardware-in-the-loop control simulation techniques enables rapid technology verification and is an indispensable technical support tool for the development of complex systems.
[0003] The various subsystems in the mooring system are interconnected and involve a large amount of dynamic interaction. Therefore, accurate simulation is an important means to improve design accuracy, verify control system performance, and evaluate actual operating conditions. If an integrated modeling approach is adopted, it will not be able to effectively cope with the complexity and dynamic changes of the system, and real-time interaction with the real controller will not be possible during the simulation process. In addition, semi-physical simulation should also consider the communication differences between the real controller and the virtual prototype or real prototype. If the communication protocol and communication interface are inconsistent, the controller will not be able to quickly switch between simulation and real tests, which will increase the debugging time. Summary of the Invention
[0004] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and propose a semi-physical simulation method for an anchoring system with rapid virtual-real switching.
[0005] The solution of the present invention is:
[0006] A semi-physical simulation method for an anchoring system with rapid virtual-real switching, comprising:
[0007] Establish a mooring system model through distributed modeling to simulate the mooring system prototype, including the hydrodynamic environment model, platform subsystem model, gravity anchor subsystem model, and cable management subsystem model;
[0008] Establish a communication system model for simulating the prototype communication system, including a simulated tension sensor model, a simulated cable length sensor model, a simulated depth sensor model, and a control instruction receiving unit model;
[0009] The mooring system model and the communication system model run on a real-time target machine. The configured communication interface of the real-time target machine is consistent with the communication interface of the real sensor.
[0010] When in the hardware-in-the-loop simulation stage, the real controller generates a control signal and sends it to the real-time target machine, and the real-time target machine sends a feedback signal to the real controller through the communication system model;
[0011] When switching to the mooring system prototype test, the real sensor takes over. On the one hand, the prototype communication system receives the control signal sent by the real controller and sends it to the mooring system prototype; on the other hand, it receives the feedback signal from the mooring system prototype and sends it to the real controller.
[0012] Preferably, the hydrodynamic environment model simulates the effects of different ocean waves, current speeds and wind forces on the mooring system. The hydrodynamic environment model is as follows:
[0013]
[0014] Where F represents the cable tension exerted on the mooring system during its movement, m is the mass of the mooring system, a is the acceleration of the mooring system, B is the buoyancy of the mooring system, G is the gravity of the mooring system, ρ is the density of water, C is the drag coefficient of the mooring system when it moves in water, A is the headwind area of the mooring system during its movement in water, and v is the velocity of the mooring system relative to the fluid.
[0015] Preferably, two state variables x1 and x2 are set, where x1 represents the depth H of the platform in the water. Plat , x2 represents the velocity V of the platform in the water Plat , the platform subsystem model state equation is as follows:
[0016]
[0017] Among them G p represents the gravity of the platform subsystem, B p is the buoyancy of the platform subsystem, ρ represents the density of water, C p A represents the resistance coefficient of the platform subsystem when it moves in water. p F represents the frontal area of the platform subsystem during its movement in water. p Indicates the cable tension on the platform subsystem during movement, m p The quality of the platform subsystem.
[0018] Preferably, two state variables x3 and x4 are set, where x3 represents the depth H of the object in the water. anchor , x4 represents the speed V of the platform in the water anchor , the state space equations of the gravity anchor subsystem model are shown as follows:
[0019]
[0020] Among them Ga represents the gravity of the gravity anchor subsystem, B a is the buoyancy of the gravity anchor system, ρ represents the density of water, C a A represents the resistance coefficient of the gravity anchor subsystem when it moves in water. a F represents the headwind area of the gravity anchor subsystem during its movement in water. a Indicates the cable tension on the gravity anchor subsystem during movement, m a is the mass of the gravity anchor subsystem.
[0021] Preferably, the cable management subsystem model simulates the dynamic process of the gravity anchor pulling out the cable, and the dynamic equation is as follows:
[0022]
[0023] τ is the driving torque generated by the cable tension on the drum, τ init is the initial damping torque of the drum rotation, J is the current moment of inertia of the cable storage drum, ζ is the drum rotation damping coefficient, θ is the rotation angle of the cable storage drum, is the angular velocity of the cable storage drum, is the angular acceleration of the cable storage drum.
[0024] Transform the above dynamic equations with the cable tension F:
[0025]
[0026] Where F represents the cable tension of the mooring system during the movement, F Init is the initial damping force of the cable storage drum rotation, and R is the radius of the cable storage drum at the current cable position.
[0027] Preferably, in the cable management subsystem model, the length L of the cable released from the cable storage drum is calculated by the following formula: L=Rθ.
[0028] Preferably, the communication system model has the same data format, protocol, transmission rate and electrical interface as the real sensor, and is used to simulate the output signals of various real sensors and transmit them to the real controller through a standard communication protocol to ensure that there is no difference in data interaction with the physical system.
[0029] Preferably, the standard communication protocols include but are not limited to CAN, Modbus, AD / D, and RS422 / 485.
[0030] The beneficial effects of the present invention compared with the prior art are:
[0031] 1) Improve simulation efficiency
[0032] The present invention combines distributed modeling and seamless switching technology to greatly improve simulation efficiency. The independent modeling of each subsystem makes the simulation process more flexible and can quickly verify and adjust the performance of each module.
[0033] 2) Reduce development costs
[0034] The present invention reduces the demand for hardware prototypes, reduces the test frequency and hardware loss, and thus reduces the overall development cost by quickly switching to the actual control system for testing.
[0035] 3) Improve design accuracy
[0036] The simulation system of the present invention has high precision and can simulate the behavior of the mooring system in various environments, helping designers to discover potential problems in advance and improve the reliability of control system design.
[0037] 4) Enhance system flexibility
[0038] The virtual-real switching mechanism of the present invention enables selection of appropriate testing methods at different stages, such as using semi-physical simulation testing for rapid verification in the early stages and performing actual prototype testing in the later stages to ensure design accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] Figure 1 A semi-physical simulation method for mooring systems with rapid switching between virtual and real;
[0040] Figure 2 Schematic diagram of the distributed modeling structure of the mooring system;
[0041] Figure 3 Force analysis of free motion of objects in water;
[0042] Figure 4 Schematic diagram of the communication module modeling for virtual-real switching;
[0043] Figure 5 Schematic diagram of hardware interface for hardware-in-the-loop simulation. DETAILED DESCRIPTION
[0044] The present invention will be further described below with reference to the accompanying drawings.
[0045] This paper proposes a semi-physical simulation method for mooring systems with rapid virtual-real switching. This method uses distributed modeling to establish models of the controlled object, including simulation models of the hydrodynamic environment, platform subsystem, gravity anchor subsystem, and cable management subsystem. A modeling method for a communication system with rapid virtual-real switching is proposed. This method uses a data format identical to that of real sensors to meet the communication requirements of different types of sensors, such as depth sensors, cable length sensors, and tension sensors. Its data frame communication protocol is simulated in the simulation, making the configured real-time target machine communication interface identical to that of the real sensor communication interface in terms of signal format and transmission rate. This allows for rapid switching between virtual or actual prototypes and controllers, avoiding tedious controller program modifications and thus improving simulation efficiency and accuracy.
[0046] The technical solution of the present invention includes the following two main parts:
[0047] 1. Modeling of the controlled object
[0048] The mooring system simulation model includes the hydrodynamic environment model, platform subsystem model, gravity anchor subsystem model, and cable management subsystem model.
[0049] 1) Hydrodynamic environment model
[0050] Numerical calculation methods (such as CFD calculation and ocean dynamics model) are used to model the ocean environment and simulate the impact of different factors such as waves, current speeds and wind forces in the ocean on the mooring system.
[0051] 2) Platform subsystem model
[0052] Dynamic modeling methods are used to consider the platform's floating, swaying, yaw, and other motions, and a multi-rigid-body dynamics model is used to analyze the platform's overall motion. During the simulation, input from the control system can be received in real time to control the platform's motion and interact with other subsystems.
[0053] 3) Gravity anchor subsystem model
[0054] The gravity anchor subsystem simulates the force and displacement response of the anchor under different seabed conditions, based on its size, shape, and burial depth. It also simulates the drag and settlement of the gravity anchor and integrates this analysis with other subsystems to assess the stability of the mooring system.
[0055] 4) Cable management subsystem model
[0056] Taking into account the mechanical properties, friction, entanglement, fracture and other factors of the cable, the dynamic behavior of the cable is modeled to simulate the force and deformation of the cable under different wave and water flow conditions, and collaborative simulation is performed with the platform subsystem and gravity anchor subsystem.
[0057] The above-mentioned distributed modeling method can ensure the interaction and coordination between each subsystem, and each subsystem can be simulated independently, ultimately forming a multi-level and multi-dimensional simulation model that comprehensively reflects the behavior of the mooring system.
[0058] 2. Modeling of a communication system with seamless virtual-real connection
[0059] Another key technology of the present invention is the communication modeling of virtual-reality switching. To ensure seamless switching between the virtual model and the actual hardware system, it is necessary to design an efficient data communication system model that can support data exchange and control command transmission between the simulation model and the real control system.
[0060] 1) Keep the data format consistent
[0061] The simulation system uses the same data formats and protocols as the real sensor system to ensure that there are no differences in data exchange between the simulation system and the physical system. The simulation system simulates data from various sensors, such as depth sensors, tension sensors, and cable length sensors, and simulates the sensor output signals, transmitting them to the control system via standard communication protocols (such as CAN, Modbus, AD / D, Ethernet, etc.).
[0062] 2) Virtual-Real Switching Mechanism
[0063] During the test, the real controller can seamlessly switch between the semi-physical simulation environment and the physical device. The semi-physical simulation system can generate data that conforms to the actual sensor output in real time, so that the control system does not need to modify any communication programs when switching between the actual device and the simulated device.
[0064] The operation process of switching between virtual and real:
[0065] When in the semi-physical simulation stage, the real controller generates a control signal and sends it to the real-time target machine, and the real-time target machine sends a feedback signal to the real controller through the communication system model; when switching to the mooring system prototype test, the real sensor takes over, and the prototype communication system receives the control signal sent by the real controller and sends it to the mooring system prototype; on the other hand, it receives the feedback signal from the mooring system prototype and sends it to the real controller.
[0066] 3) Real-time data transmission
[0067] High-speed data transmission protocols ensure efficient and stable data transmission between the simulation and the real system. Real-time transmission enables timely adjustment of control parameters and system status during testing.
[0068] Through the modeling of communication systems with seamless virtual and real connections, a high degree of flexibility can be achieved during the testing process, avoiding system communication blocks and interaction obstacles that may occur in traditional simulation methods.
[0069] Figure 1 A semi-physical simulation method for mooring system with rapid switching between virtual and real.
[0070] The semi-physical simulation of the anchoring system with rapid virtual-real switching proposed by the present invention is as follows Figure 1 As shown on the left, compared with the physical test system on the right, the semi-physical simulation replaces the mooring system prototype by establishing a controlled object model. The semi-physical simulation replaces the prototype communication system by modeling the communication system, and can achieve rapid switching of virtual and real communication, ultimately forming a full-process test of the control logic and control algorithm of the real controller.
[0071] The controlled object model includes simulation models of the hydrodynamic environment, platform subsystem, gravity anchor subsystem, and cable management subsystem.
[0072] The communication system model includes a simulated tension sensor model, a simulated cable length sensor model, a simulated depth sensor model, and a control instruction receiving unit model. Using a data format identical to that of real sensors, the simulation simulates their data frame communication protocol. This ensures that the configured real-time target machine communication interface is identical to the real sensor communication interface in terms of signal format and transmission rate. This enables rapid switching between virtual or actual prototypes and the controller, eliminating tedious controller program modifications and improving simulation efficiency and accuracy.
[0073] Figure 2 It is a schematic diagram of the distributed modeling structure of the mooring system.
[0074] The mooring system simulation model includes the hydrodynamic environment model, platform subsystem model, gravity anchor subsystem model, and cable management subsystem model.
[0075] The hydrodynamic environment model is used for the analysis of the forces acting on the platform, gravity anchor, and cable management subsystem in water. Figure 3 As shown. Where G represents the weight of the object, f represents the buoyancy of the object in water, and R' is the fluid resistance. The direction of the fluid resistance is opposite to the direction of the speed of the object when it moves freely in water. The calculation method is shown in the following formula.
[0076]
[0077] Where ρ represents the density of water, C represents the resistance coefficient of the object when it moves in water, A represents the flow area of the object during its movement in water, and v represents the speed of the object relative to the fluid.
[0078] For an object moving in water, in the absence of additional propulsion, its final velocity will reach a stable state, whether rising or falling. This is because the water resistance R' reaches a dynamic balance with the difference between gravity G and buoyancy B. In the modeling process, ignoring the additional water mass on the surface of the object and considering only the water resistance, the dynamic equation of an object moving in water when it reaches a stable state (acceleration is zero) is shown below. balance The velocity of an object in water when it reaches a steady state. When the object's gravity is greater than its buoyancy, the object's steady-state velocity is vertically downward, and vice versa.
[0079]
[0080] According to the characteristics of the object's movement in water, the force analysis is carried out on it. The dynamic equation of the object's movement in water is shown as follows, where F represents the external force (cable tension) applied to the object during the movement. When the object moves freely in water, the external driving force is zero, that is, F = 0.
[0081]
[0082] Where F represents the cable tension exerted on the mooring system during its movement, m is the mass of the mooring system, a is the acceleration of the mooring system, B is the buoyancy of the mooring system, G is the gravity of the mooring system, ρ is the density of water, C is the drag coefficient of the mooring system when it moves in water, A is the headwind area of the mooring system during its movement in water, and v is the velocity of the mooring system relative to the fluid.
[0083] When the flow area, water density and resistance coefficient of each subsystem have been determined, the size of its stable speed mainly depends on the absolute value of the difference between the gravity and buoyancy of each subsystem.
[0084] The platform subsystem model has a self-gravity that is less than its buoyancy in the water, so its stable velocity is vertically upward in the equilibrium state. Based on the dynamic equations of the platform's motion in water and the force conditions, the state space equation of its hydrodynamic model is established, and two state variables x1 and x2 are set, where x1 represents the position H of the platform subsystem in the water. Plat (depth), x2 represents the velocity V of the platform subsystem in the water Plat , the state space equation of the platform subsystem is shown below.
[0085]
[0086] Among them G p represents the gravity of the platform subsystem, B p is the buoyancy of the platform subsystem, ρ represents the density of water, C p A represents the resistance coefficient of the platform subsystem when it moves in water.p F represents the frontal area of the platform subsystem during its movement in water. p Indicates the cable tension on the platform subsystem during movement, m p The quality of the platform subsystem.
[0087] The gravity anchor subsystem model has a self-gravity greater than its buoyancy in water, so the velocity in the equilibrium state is vertically downward. Based on the dynamic equations of the platform moving in water and the force conditions, the state space equation of its hydrodynamic model is established, and two state variables x3 and x4 are set, where x3 represents the depth H of the object in the water. anchor , x4 represents the speed V of the platform in the water anchor , the state space equations of the gravity anchor subsystem model are shown as follows:
[0088]
[0089] Among them G a represents the gravity of the gravity anchor subsystem, B a is the buoyancy of the gravity anchor system, ρ represents the density of water, C a A represents the resistance coefficient of the gravity anchor subsystem when it moves in water. a F represents the headwind area of the gravity anchor subsystem during its movement in water. a Indicates the cable tension on the gravity anchor subsystem during movement, m a is the mass of the gravity anchor subsystem.
[0090] The cable management subsystem (TMS) model features cable storage and orderly, controlled release. During the depth-fixing process, it controls cable tension to vary the cable release rate, achieving differential motion between the platform and the gravity anchor. During the simulation, the TMS, with its complex internal cable tension reduction and braking behavior, was simplified into a cable storage drum model with an initial damping force and damping coefficient to simulate the dynamic process of the gravity anchor withdrawing the cable. The dynamic equations are as follows:
[0091]
[0092] Where τ is the driving torque generated by the cable tension on the drum, τ init is the initial damping torque of the drum rotation, J is the current moment of inertia of the cable storage drum, ζ is the drum rotation damping coefficient, θ is the rotation angle of the cable storage drum, is the angular velocity of the cable storage drum, is the angular acceleration of the cable storage drum.
[0093] The above dynamic equations are transformed using the cable tension F.
[0094]
[0095] Where F represents the cable tension of the mooring system during the movement, F Init is the initial damping force of the cable storage drum rotation, and R is the radius of the cable storage drum at the current cable position.
[0096] The length L of the cable released from the cable storage drum can be calculated using the following formula.
[0097] L=Rθ (10)
[0098] Figure 4 This is a schematic diagram of the communication module modeling for virtual-real switching.
[0099] The present invention designs an efficient data communication system model, which can support data interaction and transmission of control instructions between the mooring system model and the real control system.
[0100] In the hardware-in-the-loop simulation system, the same data formats and protocols as the real sensor system are used for simulation, ensuring that there are no differences in data exchange between the hardware-in-the-loop simulation system and the physical system. The communication system model simulates data from various sensors, such as depth sensors, tension sensors, and cable length sensors, and simulates the output signals of real sensors. These signals are then transmitted to the real controller via standard communication protocols (such as CAN, Modbus, AD / D, and Ethernet).
[0101] During the test, the real controller can seamlessly switch between the semi-physical simulation environment and the physical device. The semi-physical simulation system can generate data that conforms to the actual sensor output in real time, so that the control system does not need to modify any communication programs when switching between the actual device and the simulated device.
[0102] The operational process of switching between virtual and real is as follows: when in the semi-physical simulation stage, the real controller generates a control signal and sends it to the real-time target machine, and the real-time target machine sends a feedback signal to the real controller through the communication system model; when switching to the mooring system prototype test, the real sensor takes over, and the prototype communication system receives the control signal sent by the real controller and sends it to the mooring system prototype; on the other hand, it receives the feedback signal from the mooring system prototype and sends it to the real controller.
[0103] The present invention can switch to real device mode to perform physical testing to ensure consistency of control logic and data format in both modes.
[0104] Figure 5 This is a schematic diagram of the hardware interface of semi-physical simulation.
[0105] The operation process of the semi-physical simulation system of the present invention is as follows:
[0106] Step 1: After the real controller and the real-time target machine are powered on, the semi-physical simulation model (anchoring system model and communication system model) is started with an operating cycle of 1ms. After the start button in the motion tester program is turned on, the controller first sends a control code to the real-time target machine through CAN communication to enable the anchoring system model to run.
[0107] In step 2, after the mooring system model runs, it generates corresponding parameters, including accumulator pressure, cable length, platform depth, cable tension, etc. This information is sent through the real-time target machine's DA module or serial port, and then received by the real controller's AD module or serial port unit, which controls the actuator to perform the corresponding action.
[0108] In step three, the status information of the real controller and the status information of the actuators are displayed by the tester; at the same time, the real-time target machine also collects information of some actuators for monitoring.
[0109] This paper proposes a distributed modeling approach for hardware-in-the-loop (HIL) simulation of mooring systems. This approach models each subsystem of the mooring system, establishing models for the hydrodynamic environment, platform subsystem, gravity anchor subsystem, and cable management subsystem. To address the inability of real controller communication units to quickly switch between HIL simulations and actual prototype testing, a communication system modeling method with rapid virtual-to-real switching is proposed. This modeling approach uses a modeling approach that is identical to real sensors in terms of data frame format, transmission rate, and electrical interface, enabling rapid switching between virtual or actual prototypes and the controller.
[0110] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.
Claims
1. A hardware-in-the-loop simulation method for an anchoring system with rapid virtual-real switching, characterized in that: include: Establish a mooring system model through distributed modeling to simulate the mooring system prototype, including the hydrodynamic environment model, platform subsystem model, gravity anchor subsystem model, and cable management subsystem model; Establish a communication system model for simulating the prototype communication system, including a simulated tension sensor model, a simulated cable length sensor model, a simulated depth sensor model, and a control instruction receiving unit model; The mooring system model and the communication system model run on a real-time target machine. The configured communication interface of the real-time target machine is consistent with the communication interface of the real sensor. When in the hardware-in-the-loop simulation stage, the real controller generates a control signal and sends it to the real-time target machine, and the real-time target machine sends a feedback signal to the real controller through the communication system model; When switching to the mooring system prototype test, the real sensor takes over. On the one hand, the prototype communication system receives the control signal sent by the real controller and sends it to the mooring system prototype; on the other hand, it receives the feedback signal from the mooring system prototype and sends it to the real controller.
2. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 1, characterized in that: The hydrodynamic environment model simulates the effects of different ocean waves, current speeds, and wind forces on the mooring system. The hydrodynamic environment model is as follows: Where F represents the cable tension exerted on the mooring system during its movement, m is the mass of the mooring system, a is the acceleration of the mooring system, B is the buoyancy of the mooring system, G is the gravity of the mooring system, ρ is the density of water, C is the drag coefficient of the mooring system when it moves in water, A is the headwind area of the mooring system during its movement in water, and v is the velocity of the mooring system relative to the fluid.
3. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 1, characterized in that: Set two state variables x1 and x2, where x1 represents the depth H of the platform in the water Plat , x2 represents the velocity V of the platform in the water Plat , the platform subsystem model state equation is as follows: Among them G p represents the gravity of the platform subsystem, B p is the buoyancy of the platform subsystem, ρ represents the density of water, C p A represents the resistance coefficient of the platform subsystem when it moves in water. p F represents the frontal area of the platform subsystem during its movement in water. p Indicates the cable tension on the platform subsystem during movement, m p The quality of the platform subsystem.
4. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 1, characterized in that: Set two state variables x3 and x4, where x3 represents the depth H of the object in the water anchor , x4 represents the speed V of the platform in the water anchor , the state space equations of the gravity anchor subsystem model are shown as follows: Among them G a represents the gravity of the gravity anchor subsystem, B a is the buoyancy of the gravity anchor system, ρ represents the density of water, C a A represents the resistance coefficient of the gravity anchor subsystem when it moves in water. a F represents the headwind area of the gravity anchor subsystem during its movement in water. a Indicates the cable tension on the gravity anchor subsystem during movement, m a is the mass of the gravity anchor subsystem.
5. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 1 is characterized in that: The cable management subsystem model simulates the dynamic process of the gravity anchor pulling out the cable. The dynamic equation is as follows: τ is the driving torque generated by the cable tension on the drum, τ init is the initial damping torque of the drum rotation, J is the current moment of inertia of the cable storage drum, ζ is the drum rotation damping coefficient, θ is the rotation angle of the cable storage drum, is the angular velocity of the cable storage drum, is the angular acceleration of the cable storage drum. Transform the above dynamic equations with the cable tension F: Where F represents the cable tension of the mooring system during the movement, F Init is the initial damping force of the cable storage drum rotation, and R is the radius of the cable storage drum at the current cable position.
6. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 5, characterized in that: In the cable management subsystem model, the length L of the cable released from the cable storage drum is calculated by the following formula: L = Rθ.
7. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 1, characterized in that: The communication system model has the same data format, protocol, transmission rate, and electrical interface as real sensors. It is used to simulate the output signals of various real sensors and transmit them to the real controller through a standard communication protocol, ensuring that there is no difference in data interaction with the physical system.
8. The method for hardware-in-the-loop simulation of an anchoring system with rapid virtual-real switching according to claim 7 is characterized in that: The standard communication protocols include but are not limited to CAN, Modbus, AD / D, and RS422 / 485.