Concept Design Of Lifting Operation Simulation System Of A Deepwater Pipe-laying Crane Vessel

Deep water pipe-laying crane vessels play an important role in the field of ocean engineering. As the lifting equipments and working environment getting more complicated, the demand for operators'skill increases. So, to start the research of a simulation system for lifting operations of crane vessels can be of great significance. The thesis, aiming at the working characterisics of the crane on "Ocean Petroleum 201", accomplishes the analysis of the conceptual design of the lifting operations simulation system with virtual-reality technology. The following works are finished in this thesis:(1) The position relationship and posture of the crane's composition parts is derived by using Homogeneous Transformation Matrix. And through kinematics and dynamics analysis of lifting load system on the ship, the thesis gives out the non-linear equations of the hanging objects'swing angle and the dynamic equations of the lifting objects.(2) Forces, which originated in wind, waves and flow, act on the hull are decomposed and calculated according to MMG and basic theory of ship dynamics. The mathematical model of six degrees of freedom which describes the lifting operation is built for the simulation system basing on dynamic positioning system (DPS) and dynamic ballast water controling.(3) The frameworks of simulation system for lifting operations is developed basing on the research of virtual-reality technology. The simulation system is divided into several sub-systems such as dynamic simulation system, visual simulation system, lifting control system and training management system. Each sub-system's function and key tech, and interaction between sub-systems are determined. Finally, the simulation system can simulate the situation when the crane vessels doing the lifting operations.