基于双并联平台的港口船舶智能系泊方法研究  

Research on Intelligent mooring method of port ship based on double parallel platform

作　　者：高峰 唐友刚[1] 赵铁石[3] 胡克 丁实兴[3] 胡传琦 GAO Feng;TANG You-gang;ZHAO Tie-shi;HU Ke;DING Shi-xing;HU Chuan-qi(School of Civil Engineering and Architecture, Tianjin University, Tianjin 300072, China;Tianjin Research Institute for Water Transport Engineering, National Engineering Research Center of Port Hydraulic Construction Technology, Ministry of Transport, Tianjin 300456, China;School of Mechanical Engineering, Yanshan University, Qinhuangdao 066044, China)

机构地区：[1]天津大学建筑工程学院,天津300072 [2]交通运输部天津水运工程科学研究所港口水工建筑技术国家工程研究中心,天津300456 [3]燕山大学机械电子工程系,秦皇岛066044

出　　处：《水道港口》2022年第1期1-7,共7页Journal of Waterway and Harbor

基　　金：国家自然科学基金联合基金项目(U21A20123);中央级科研院所基本科研业务费资助项目(TKS20200304)。

摘　　要：随着海运业发展对船舶大型化、装卸效率提升的需求以及码头作业安全要求的不断提高,对港口系泊这一传统作业方式提出了挑战。文章基于船舶水动力学及机构运动理论,从船舶系泊工况和要求出发,开展自动系泊机构设计,并研发了基于3UPS/6UPS并联平台单元构成的具备主动减摇能力的智能化自动系泊方案,通过系统机构分支的恢复力与被动阻尼自主适应系泊船舶的运动量,实现主动控制系泊船舶姿态,并依托所研发样机在波浪水池开展了不同工况的船模试验以验证方案可行性,从改善船舶运动量角度进行分析,试验结果达到了预期的效果。With the development of maritime transportation,the need for large-scale ships,the improvement of loading and unloading efficiency,and the improvement of wharf operation safety,the traditional operation mode of ship mooring has been challenged.Based on the theory of ship hydrodynamics and mechanism motion,the design of automatic mooring mechanism is carried out according to the conditions and requirements of ship mooring,an intelligent automatic mooring system with active anti-rolling capability based on 3UPS/6UPS parallel platform unit is developed.Through the resilience of the system mechanism branch and the passive damping self-adaptation of the motion of the moored ship,to realize the active control of the attitude of the moored ship,and based on the prototype developed by the institute,a ship model test under different working conditions was carried out in the wave pool to verify the feasibility of the scheme,and the analysis was carried out from the angle of improving the motion of the ship,the result of the experiment has achieved the expected effect.

关 键 词：系泊 智能 并联平台 运动量 泊稳条件 

分 类 号：U65[交通运输工程—港口、海岸及近海工程] TV143[交通运输工程—船舶与海洋工程]