Design And Analysis Of Energy-regenerative Automatic Mooring Device

The mooring technology of ships directly affects the efficiency of dock operation and the safety of ship moorings.The traditional mooring-line can no longer meet the mooring requirements for efficient and safe.The cableless automatic mooring devices have become a development trend.In response to the urgent needs of smart ports for ship mooring,this paper proposes an energy-regenerative automatic mooring device,which integrates ship motion detection and automatic mooring,and adjusts the damping to realize the ship's antirolling while collecting energy.Firstly,taking the 266,000-ton LNG ship as the research object,the design index of the automatic mooring device is given.The energy-regenerative automatic mooring device is composed of multiple mooring units.By analyzing the singularity of the mooring unit mechanism configuration,the distribution of hinge points of the mooring unit is determined.By analyzing the movement process of the ship,the energy feeding method of the mooring device is selected.Secondly,the kinematics analysis of the mooring unit mainly includes position analysis,speed analysis and acceleration analysis.By comparing MATLAB theoretical analysis and Simulink mechanical system simulation,the correctness of the kinematics model is verified.The stiffness model of the mooring unit is derived and directional stiffness.By solving the working space of the mooring unit,it is verified that the reachable working space of the mooring unit meets the design index.Based on the force Jacobian matrix,the mapping relationship between the damping coefficient of the driving joint of the parallel mechanism and the equivalent damping coefficient of the terminal is derived,and the damping characteristics are verified by joint simulation.At the same time,the damping characteristics of the automatic mooring device are analyzed.Finally,three kinds of anti-rolling control strategies for branching constant damping coefficient,unit damping force and branching constant damping force of the automatic mooring device are proposed,and a simulation model of the automatic mooring device system is built.The effect of damping on the ship's motion response is analyzed in the direction of single degree of freedom,and the anti-roll characteristics of the three anti-roll control strategies is analyzed and compared through simulation experiments.