A numerical simulation platform is established to realize the active truncation model test method of deep-water mooring system, and the time delay is focused in this paper. The Stewart platform is chosen as the actuator aiming to realize the motion control of truncated point in mooring line. The corresponding kinematic model and motion control strategy of actuator are established. The method of cubic spline interpolation is proposed to solve the time delay compensation of actuator motion control, the influences parameters affecting compensation results are compared, and the corresponding compensated effects are verified. Through compensating the input signal of actuator, the real-time motion tracking accuracy of the truncated point of mooring line is effectively improved, which have contribution to the success of following physical experiments.

建立了一个数值模拟平台来实现深水系泊系统的主动截断模型测试方法，并重点研究了时延问题。选择Stewart平台作为执行器，旨在实现系泊缆截断点的运动控制。建立了执行器的相应运动学模型和运动控制策略。提出了三次样条插值方法，解决了执行器运动控制的时滞补偿问题，比较了影响补偿结果的影响参数，并验证了相应的补偿效果。通过补偿执行器的输入信号，有效提高了系泊缆截断点的实时运动跟踪精度，为后续物理实验的成功做出了贡献。