海上起重作业交互式视景仿真与数值模拟  

Interactive visual simulation of offshore hoisting operation and numerical modelling

作　　者：许秀军 王立权[1] 房晓明[2] 李震[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]海洋石油工程股份有限公司海洋工程技术中心,天津300451

出　　处：《哈尔滨工业大学学报》2018年第1期160-168,共9页Journal of Harbin Institute of Technology

基　　金：国家科技重大专项(Z12SJENA0014)

摘　　要：为建立准确的海上起重作业视景仿真系统,以"海洋石油201"起重船为研究对象,构建综合考虑海情海况、船舶动力定位系统、起重船压载系统等影响下的起重作业数学模型.综合应用虚拟现实技术、多通道数据交互技术、数值模拟技术以及半物理仿真技术,构建交互式三维动态虚拟场景.采用布利斯近似积分法对起重作业数学模型进行实时求解,在保证求解精度的基础上,实现了视景仿真系统的实时数据交互.仿真系统重点对起重作业过程中的船舶位移、船舶姿态角、吊物系统摆角和受力以及起重船受到的反作用力等参数的动态响应过程进行了仿真模拟,得到起重作业过程中船舶和吊物系统的运动规律.将仿真系统结果与海试数据进行对比,仿真系统偏差保持在10%以内,起重作业数学模型准确度满足仿真系统需求.视景仿真结果表明:仿真系统在保证精度的前提下,可以对海上起重作业的施工项目进行工程预演,能有效地降低海上起重作业风险,提高工程作业的安全性.To establish an accurate visual simulation system for offshore hoisting operations,the ＂ Offshore Oil 201＂ crane ship was regarded as the research object,a mathematical model for hoisting operations was established with comprehensive considering the influence of sea conditions,the dynamic positioning system of the ship and the ballasting system of the crane ship. An interactive three-dimensional dynamic virtual scene was constructed by the comprehensive application of virtual reality technology, multi-channel data interaction technology, numerical solution technology and semi-physical simulation technology. The Bliss approximate integration was used to solve the mathematical model of the hoisting operation and the real-time data interaction of the visual simulation system was realized on the basis of guaranteeing the accuracy of the solution. The dynamic response of the ship displacements,the ship attitude angles,the swing angles and forces of the hoisting system and the reaction force of the crane ship were emphatically analyzed in the simulation system. The movement law of the ship and the hoisting system were obtained. The simulation system results were compared with the sea trial and the deviation of the simulation system was kept within 10%. The accuracy of the mathematical model of the hoisting operation is sufficient for the simulation system,and the simulation system can carry on the engineering rehearsal of the offshore hoisting operations with ensuring the system accuracy,which can effectively improve the safety of the offshore engineering operations.

关 键 词：起重船 多通道数学模型 吊物系统 数值模拟 交互式视景仿真 

分 类 号：TH133[机械工程—机械制造及自动化] TP183[自动化与计算机技术—控制理论与控制工程]