Research On The Key Technology Of Ship’s ‘Side-by-side’ Supply Equipment Based On Hybrid Mechanism Situation

With the adjustment of the national maritime strategy,the plan to move away from the coastline to "Deep Blue" is constantly advancing,but the supply problem of ocean-going voyages severely limits the radius of activity of the fleet.Because marine replenishment is limited by the changeable marine environment and the multiple degrees of freedom of movement between ships,it is often only possible to provide replenishment within a limited time.Therefore,how to ensure the supply of materials when away from the coast is a problem that must be solved by the fleet for ocean navigation..In order to improve the efficiency of marine replenishment and increase the cruising range of the fleet,this paper investigates a hybrid ship replenishment device that uses containers as material carriers.The main research contents and work are as follows:First,determine the overall plan for the replenishment device.By analyzing the movement characteristics of ‘Side-By-Side’ Replenishment,this paper proposes a hybrid-type supply device system combining a series boom and a multi-freedom parallel platform.The movements that need to be completed by each component structure are analyzed separately.The compensation mechanism that has the greatest impact on the replenishment operation is analyzed by kinematics inverse solution analysis,dynamics modeling and simulation verification,and reachable space analysis.And,it can meet the needs of compensating the relative movement points between the two ships.Secondly,aiming at the problems of driving and controlling the compensation mechanism,the hydraulic servo drive system of the drive rod group of the compensation mechanism is designed,and the key components are calculated and selected according to the dynamic simulation results.Establish a mechanical model of the compensation mechanism in Sim Mechanics,use conventional PID control method and fuzzy PID control method to simulate the compensation mechanism by controlling the thrust of the driving rod,obtain the motion curve of the compensation mechanism,and select the best control method through error analysis.Then,Select the binocular vision with the best comprehensive effect to identify the target objects of the supply operation and detect the posture.Before the detection,first perform calibration experiments and correction experiments on the camera to improve the accuracy of image acquisition,and experimentally The common feature detection methods are used to screen,and finally the artificial feature as the auxiliary feature extraction scheme is determined,and the three-dimensional information of the image is obtained by feature tracking and feature matching,and finally the target ship posture data is obtained.Finally,an experimental device for verifying the replenishment scheme proposed in this paper was built under laboratory conditions,and an interactive program integrating target ship posture detection,driving rod group motion parameter calculation,and experimental device motion control was designed.Finally,the feasibility of the replenishment plan proposed by this paper was verified through experiments.