Research On The Ship Position Control System For Solid Cargo Underway Replenishment

The sea way solid cargo replenishment is the essential measure to improve the fight ability of navy.Replenishment ship and receiving ship remained relatively static under the disturbance of sea conditions and replenishment device, that is very important for the safety of supply operations.In this paper,the background is ship solid cargo navigation replenishrnent system and ship position control of supply marine is carried on.Four parts of research work has been made as follows:Based on the separated modeling method,a 4-dof maneuvering motion mathematic ship model which contains supply disturbing force and a disturbing force model of supply ship motions have been established.Based on the elasticity,the mathematic model of supply instruments highline constant tension system is established during transverse navigation.Forces of cableway supply point and received point are calculated,max deflection of the line and motion characteristics of the cargo on line are deep analysed.The simulation result shows that the cargo won't conflict with deck or immerse in the water,the result of highline tension meets the requirement of cargo motion.Based on the fuzzy self-turing parameters PID vertical and transverse controller and PID algorith heading controller,three independent controllers are designed to controll the ship position.Without the sea disturbance and under the supply condition when the controller is in use,the receiving ship's positioning control is simulated during close to stage,cocurrent and cargo recharge stage of supplying and receiving ship.Results show that the control system designed in this paper are available to control the supply and receive ship to keep a distance and sail in same direction and velocity.Three dimensional scene of cargo sailing supply operation is finished,three dimensional scene driving software which has multiple viewpoints observation pattern is developed.The effectiveness and feasibility of ship cargo supply operation and supply ship positioning control are vertified virtually and intuitively through the positioning control scheme.The cargo navigation supply operaion system designed in this paper provides precondition to safe and fast supply operation.Validity and feasibility are vertified through simulation,the system has important military value and wide application prospect.