Design and Implementation of Cooperative Turning Control for the Towing System of Unpowered Facilities

With the increasing construction of offshore engineering, there is an increasing demand for the floating transportation of offshore-unpowered facilities. Current offshore towing floating transportation is manipulated uniformly through manual command, which depends on the experience to control and coordinate. There will be delay in the manipulation time, and the manual factor has great influence. The intelligent control method is introduced to establish the cooperative control strategy, and the design of a cooperative controller could increases the adaptive regulation capacity of the system, which applies the coupling correlation of systems to realize the automatic regulation for the direction and towing force. The rapid, intelligent, and stable turning of system could be accomplished. Finally, through simulation and hardware experimental testing analysis, the track and direction changes under different sea conditions are compared with the control quality, and the performance of the cooperative strategy is analyzed, acquiring excellent control effect, which is of guiding significance for the intelligent control practice of the system.