舰船航行纵向补给对接技术研究
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摘要
为增大舰船作战半径、延长舰船巡航时间,提高舰船综合保障能力,有必要对航行中的舰船实施油料补给。由于高海况下两浮体存在不确定的相对运动,油管对接十分困难,如能快速准确地实现补给中油管对接,将极大提高补给效率。故对舰船补给对接技术进行研究,具有重要的理论意义和实用价值。本文主要针对舰船航行纵向补给作业中的对接技术展开研究。
在对国内外航行补给、对接技术及其相关领域的研究发展现状综合分析的基础上,针对纵向补给中两对接浮体在海浪作用下的相对位姿关系进行理论研究。基于分离建模(MMG)方法,通过对单一浮体的受力／力矩分析,推导出主动浮体4自由度运动方程。基于谱分析法,通过对柔性初连接下受限浮体的运动状态展开研究,建立了海浪对受限浮体的力／力矩模型。并对所建立的非受限浮体(即单一浮体)以及不同海况下受限浮体的运动方程进行了数值仿真,为航行补给中实现对接的技术途径提供了理论依据。
针对补给中实现油管对接的难题,提出分步式对接方案。即用桨和舵控制主动浮体与被动浮体接近,通过柔性臂实施初连接,再通过对接调整机构实现油管对接。对提出的对接机构方案,设计了油管对接头引导机构、对接调整机构、密封、锁紧与解脱机构,建立了虚拟样机以实现虚拟装配。对提出的初连接方案,建立了较为完善的RP型柔性机械臂试验系统,给出了柔性调节的力学模型,并针对该模型进行了试验研究。试验结果表明,所建立的RP型柔性系统可很好地满足分步式对接中初连接的要求。
针对舰船补给过程中的三种作业状态,分析舰船的行进轨迹与补给的合理时间,提出了补给方案可行性分析的评判准则。分析了对接调整机构的运动特性及自由度分配方案。基于螺旋理论,对单一型与组合式对接调整机构的构型进行研究,根据综合出的19类基本运动类型,构型出多种串联式、单闭链式以及并联式机构的可行方式,通过提出的2-RPU-C型单闭链机构又演化出3类全新机构。分析与比较各构型优缺点,选择最优对接方式,为实现油管对接提供可行的分析方法。
针对6-RUS型并联机构与2-RPU-C型单闭链机构的两种典型机构类型进行研究。为对接调整机构的设计提供了技术途径。建立了6-RUS型并联机构的逆运动学模型和逆动力学模型,并进行了数值仿真,以分析该机构动平台对目标点的准确跟踪及电机布置方式对其使用效能的影响。建立了2-RPU-C型单闭链机构的正运动学和逆运动学模型,并进行了数值仿真,以研究该机构的工作空间及目标跟随特性。在此基础上,建立了海上补给对接过程视景仿真系统。并对6级海况中的2-RPU-C型对接调整机构实现油管的对接过程进行仿真,结果表明,2-RPU-C对接调整机构可以满足对接要求,且所编制的软件能真实再现对接过程,并可较好地验证所提出的对接方案的可行性。
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.
在对国内外航行补给、对接技术及其相关领域的研究发展现状综合分析的基础上,针对纵向补给中两对接浮体在海浪作用下的相对位姿关系进行理论研究。基于分离建模(MMG)方法,通过对单一浮体的受力／力矩分析,推导出主动浮体4自由度运动方程。基于谱分析法,通过对柔性初连接下受限浮体的运动状态展开研究,建立了海浪对受限浮体的力／力矩模型。并对所建立的非受限浮体(即单一浮体)以及不同海况下受限浮体的运动方程进行了数值仿真,为航行补给中实现对接的技术途径提供了理论依据。
针对补给中实现油管对接的难题,提出分步式对接方案。即用桨和舵控制主动浮体与被动浮体接近,通过柔性臂实施初连接,再通过对接调整机构实现油管对接。对提出的对接机构方案,设计了油管对接头引导机构、对接调整机构、密封、锁紧与解脱机构,建立了虚拟样机以实现虚拟装配。对提出的初连接方案,建立了较为完善的RP型柔性机械臂试验系统,给出了柔性调节的力学模型,并针对该模型进行了试验研究。试验结果表明,所建立的RP型柔性系统可很好地满足分步式对接中初连接的要求。
针对舰船补给过程中的三种作业状态,分析舰船的行进轨迹与补给的合理时间,提出了补给方案可行性分析的评判准则。分析了对接调整机构的运动特性及自由度分配方案。基于螺旋理论,对单一型与组合式对接调整机构的构型进行研究,根据综合出的19类基本运动类型,构型出多种串联式、单闭链式以及并联式机构的可行方式,通过提出的2-RPU-C型单闭链机构又演化出3类全新机构。分析与比较各构型优缺点,选择最优对接方式,为实现油管对接提供可行的分析方法。
针对6-RUS型并联机构与2-RPU-C型单闭链机构的两种典型机构类型进行研究。为对接调整机构的设计提供了技术途径。建立了6-RUS型并联机构的逆运动学模型和逆动力学模型,并进行了数值仿真,以分析该机构动平台对目标点的准确跟踪及电机布置方式对其使用效能的影响。建立了2-RPU-C型单闭链机构的正运动学和逆运动学模型,并进行了数值仿真,以研究该机构的工作空间及目标跟随特性。在此基础上,建立了海上补给对接过程视景仿真系统。并对6级海况中的2-RPU-C型对接调整机构实现油管的对接过程进行仿真,结果表明,2-RPU-C对接调整机构可以满足对接要求,且所编制的软件能真实再现对接过程,并可较好地验证所提出的对接方案的可行性。
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.
引文
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