Patent ID: 11966667
Assignee: HARBIN ENGINEERING UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. An intelligent simulation system for jacket towing, comprising:
one or more non-transitory computer readable storage media including:
a distributed collaborative simulation subsystem, a comprehensive management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem and a motion simulation subsystem; wherein
the distributed collaborative simulation subsystem is configured to provide a communication interface for each subsystem;
the comprehensive management and evaluation subsystem is configured to generate and issue a simulation subject;
the operation control simulation subsystem is configured to generate operation instructions;
the motion simulation subsystem is configured to receive parameters of the simulation subject and the operation instructions, simulate a motion state of a jacket, a motion state of a tugboat and a motion state of a towrope in real time, and transmit the simulated motion states to the visual simulation subsystem;
the visual simulation subsystem is configured to perform a three-dimensional display for the real-time simulation of the motion state of the jacket, the motion state of the tugboat and the motion state of the towrope;
the comprehensive management and evaluation subsystem comprises an instructor console and has a function of comprehensive management and evaluation, and the comprehensive management and evaluation subsystem is configured to set marine environment parameters, an initial position of the jacket, an initial position of the tugboat, and physical property parameters of the towrope, generate and issue a simulation training subject, control start-stop of a simulation process of the system, and record and visually display simulation data generated by the motion simulation subsystem;
the operation control simulation subsystem comprises a tugboat console and a winch console, the tugboat console is configured to set basic operation parameters of tugboat course and navigation speed, and the winch console is configured to set retraction and release speed of the towrope;
the motion simulation subsystem comprises a six-degree-of-freedom motion simulation model of the jacket, a six-degree-of-freedom motion simulation model of the tugboat and a motion simulation model of the towrope, the motion simulation subsystem is configured to calculate six-degree-of-freedom motion data of the jacket, six-degree-of-freedom motion data of the tugboat and shape and tension of the towrope in real time by receiving the marine environment parameters of current velocity, current direction and wave direction, the initial position of the tugboat, the initial position of the jacket, and initial parameters of diameter, dry weight and wet weight of the towrope generated by the comprehensive management and evaluation subsystem, and the operation instructions of target course, navigation speed and winch speed generated by the operation control simulation subsystem; and the motion simulation subsystem is further configured to provide the simulation data to the visual simulation subsystem and the comprehensive management and evaluation subsystem;
in the motion simulation subsystem, force of the towrope on the jacket and force of the towrope on the tugboat are respectively introduced into motion equations of the jacket and the tugboat; an end of the towrope is regarded as fixed to the jacket, and a top of the towrope is regarded as fixed to the tugboat; node speeds and spatial positions of the end of the towrope and the top of the towrope are respectively kept consistent with node speeds and spatial positions of the jacket and the tugboat in a solving process; and the jacket, the tugboat and the towrope are regarded as a whole for coupling solution;

wherein both the six-degree-of-freedom motion simulation model of the jacket and the six-degree-of-freedom motion simulation model of the tugboat take marine environmental loads and tension force generated by the motion simulation model of the towrope into consideration;
the six-degree-of-freedom motion simulation model of the jacket is:

{right arrow over (F)}={right arrow over (F)}1+{right arrow over (F)}D+{right arrow over (F)}B+{right arrow over (F)}AM_M 

wherein {right arrow over (F)}1 is inertia force; {right arrow over (F)}D is drag force; {right arrow over (F)}B is buoyancy; and {right arrow over (F)}AM_M is added mass force;
the six-degree-of-freedom motion simulation model of the tugboat is:

Ms{dot over (v)}s+Cs(vs)vs+Ds(vs)vs+gs(ηs)=τes 

wherein Ms is an inertia matrix of a tugboat system, comprising a ship mass matrix and an added mass matrix; Ds(vs) is a damping matrix of the tugboat; gs(ηs) is a vector of force and moment caused by gravity and buoyancy; Cs(vs) is a Coriolis force matrix; and τes is thrust on the tugboat;
the motion simulation model of the towrope is:, [
     
      
       m
       i
      
      +
      
       a
       i
      
     
     ]
    
    
     ︸
     
      mass
      +
      addedmass
     
    
   
   ⁢
   
    
     r
     ¨
    
    i
   
  
  =
  
   
    
     
      T
      
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       +
       
        (
        
         1
         /
         2
        
        )
       
      
     
     -
     
      T
      
       i
       -
       
        (
        
         1
         /
         2
        
        )
       
      
     
     +
     
      C
      
       i
       +
       
        (
        
         1
         /
         2
        
        )
       
      
     
     -
     
      C
      
       i
       -
       
        (
        
         1
         /
         2
        
        )
       
      
     
    
    
     ︸
     
                      
      
       internal
       -
       stiffness
       -
       
        a
        ⁢
        n
        ⁢
        d
       
       -
       damping
                      
      
     
    
   
   +
   
    
     
      W
      i
     
     +
     
      B
      i
     
    
    
     ︸
     
      weight
      -
      and
      -
      contact
     
    
   
   +
   
    
     
      D
      
       p
       i
      
     
     +
     
      D
      
       q
       i
      
     
    
    
     ︸
     
                  
      drag
               
     
    
   
  
 

wherein mi is a mass matrix of node i; ai is an added mass matrix of the node i; T is tension at a node; C is internal damping force of the node; Wi is net buoyancy per unit length; Dpi is lateral damping force at the node; and Dqi is tangential damping force at the node.