Research On The Technologies Of Docking In Longitudinal Replenishment At Sea

For improving warships' survivability and endurance, increasing radius and period of cruise time of warship, it is necessary for warship to refuel rapidly and effectively. For there is position and orientation errors with hydrodynamic force in the high sea state, to achieve docking is very difficult. Rapid implementation docking can improve the efficiency of replenishment. So a systematic research on the technologies of docking in replenishment at sea has important theoretical and practical value. In this thesis, the related technologies of docking are researched, such as replenishment scheme and mechanism for docking.Based on analyzing those related investigation on the underway replenishment at sea and the technology of docking, include the domestic and foreign, present and past, the theoretical research on position and orientation errors of two floating bodies with wave action is researched. Effect of force and moment on the single floating body is analyzed based on the MMG's separated modeling theory. Then the 4-DOF motion equation on single floating body is established. Effect on two floating bodies which under original constrained state with flexible connections, with ocean wave, is researched based on spectrum analysis method. Then the force and moment model and the motion equation on constrained floating bodies are established. Based on the theoretical results, a simulation of motion on single floating body and constrained floating bodies in the different sea state are proposed. The theoretical results could provide the sound approach on implementation of docking.To fulfill the requirement of docking successfully, the scheme of step-by-step docking is proposed. The scheme is shown as, the active floating body is controlled with the propeller and rudder to approach the passive floating body, then two floating bodies are connected initially with flexible manipulator, and then the docking is carried out with adjust mechanism. The structure design and virtual assembly of the automatic docking system are presented, such as initial connected mechanism and seal and locking device. Established the virtual prototype and achieve the virtual assembly, proposed initial connection program, made up the RP flexible manipulator mechanism system successfully. Set up the mechanical model for flexible regulation and made the experimental study based it. The result shows that the RP mechanism system proved a practical solution to the flexible connection with the scheme of step-by-step. Analysis ship defensive pursuit path, supplies time, and supplies process, given the evaluation criterion for feasibility of the replenishment scheme. The movement characteristics are analyzed and the DOFs assignment method is introduced. Based on the screw theory, a large number of configurations for single adjust mechanism and combination adjust mechanism are presented. According to the 19 basic movement types Synthesized, a variety of practical way, tandem type, single closed chain, parallel type mechanism been proposed. Through the proposed 2-RPU-C single closed chain mechanisms, classify into a new 3 type mechanism. Analysis and comparison of the advantages and disadvantages of each configuration, choose the best docking method to achieve docking tubing, and then provide a feasible method.Theoretical research on two configurations is introduced, such as 6-RUS parallel mechanism and 2-RPU-C one closed-transmission-chain mechanism. Provide a technical approach for adjustment mechanism of docking design. Upon 6-RUS parallel mechanism, the kinematics model and inverse dynamics model are established, and made the simulation, analysis efficiency of track the target affected by the moving platform and woke efficiency affected by the arrangement of motor. Upon 2-RPU-C one closed-transmission-chain mechanism, the kinematics model and inverse dynamics model are established, and made the simulation, analysis the workspace and follow target characteristics of the mechanism. Based on the theoretical study, the scene simulation platform is developed for automatic docking in replenishment at sea. The simulation on docking under 6 grades sea state with 2-RPU-C mechanism is presented. The result shows that the 2-RPU-C adjustment mechanism can meet the requirements of docking and the scene simulation platform can play and replay the process of docking, verified docking scheme proposed is feasible.