深水铺管起重船海上起重作业实时仿真

Real-time Simulation of Offshore Lifting Operation of Deepwater Pipelay Crane Vessel

为满足海上起重作业视景仿真的数据需求,该文基于动力定位仿真系统提供的船舶六自由度实时数据和起重驾控台的操纵信号等多通道离散数据,构建了综合考虑海况、动力定位、实时操纵、压载调整等影响因素的实时动力学模型。为降低累积误差,提高运算速度,采用布里斯近似积分法求解动力学方程。结果证明,该仿真系统在保证精度的前提下满足了实时性要求,有效地解算了被吊物的实时摆动姿态,为视景模型提供了基础数据。

To meet the data needs of the offshore lifting visual simulation,according to the effects of the sea condition,the dynamic positioning,the real-time manipulation and the ballast adjust on the lifting operation during the actual offshore lifting process,a real-time dynamic model is build up based on the multi-channel discrete data including the ship 6-DOF real-time data from the dynamic positioning system and the manipulation signals of the lifting control table.Breece approximate integral method is adopted to solve the dynamic equation for reducing the accumulated error and improving the operation speed.The results show that the accuracy and the real-time for simulation are suitable,the real-time cargo swings can be simulated by the method and the basic data is useful for the visual model.