Joint modeling and simulation method and system for offshore engineering installation operations

Abstract

The joint modeling and simulation method and system for marine engineering installation operations belong to the field of ship and marine engineering technology, and in particular to the joint modeling and simulation of marine engineering installation operations. The method solves the problems of low simulation efficiency, failure to meet the real-time requirements of engineering exercises, and difficulty in reusing simulation models in the existing modeling and simulation technologies for marine engineering equipment installation operations, which leads to high time costs for repeated development. The method comprises the following steps: S1, obtaining an independent motion simulation model of the equipment; S2, obtaining joint simulation real-time data based on motion transfer simulation and load transfer simulation. The joint modeling and simulation method and system for marine engineering installation operations are suitable for joint modeling and simulation of marine engineering installation operations.

Description

Technical Field

[0001] The present invention relates to the technical field of shipbuilding and marine engineering, and in particular to joint modeling and simulation of marine engineering installation operations. Background Art

[0002] The installation of large deepwater structures (i.e., installation of marine engineering equipment) is a key link in deep-sea energy development, which requires multiple equipment to carry out coordinated construction operations. The types of surface or underwater operating equipment involved are complex, and there are many operating stations and harsh operating environments. It is characterized by high difficulty, high technology, high investment and high risk. Through digital modeling and simulation technology, the motion response and construction process of the multi-body coupling system installed offshore are simulated, and construction plan drills and personnel training are carried out, which can effectively reduce the construction risks during the installation of large deepwater structures, thereby ensuring the safety of equipment and operators.

[0003] However, the existing modeling and simulation technology for installation of marine engineering equipment is usually oriented to the scenario of multi-equipment collaborative operation at sea. Through a large number of derivations, the combination equations of multi-body systems are established to perform integrated solution analysis on the required equipment. The integrated solution analysis requires a huge amount of calculation and a complex calculation process, which leads to low simulation efficiency of existing modeling and simulation technology and cannot meet the real-time requirements of engineering exercises. At the same time, the existing modeling and simulation technology is not easy to operate in terms of simulation model design and function configuration, which is not conducive to the reuse of simulation models and has a high time cost for repeated development. Summary of the invention

[0004] The present invention proposes a joint modeling and simulation method and system for marine engineering installation operations, which solves the problems of low simulation efficiency, inability to meet the real-time requirements of engineering drills, and difficulty in reusing simulation models, resulting in high time costs for repeated development, in existing modeling and simulation technologies in marine engineering equipment installation operations.

[0005] The joint modeling and simulation method for marine engineering installation operations described in the present invention has the following technical solutions:

[0006] The method comprises the following steps:

[0007] S1. According to the installation operation simulation scenario, calculate and load the loads on each equipment to obtain an independent motion simulation model of the equipment;

[0008] S2. Within a given simulation time, an iterative method is used to obtain the real-time data of the joint simulation based on the equipment independent motion simulation model; wherein, in each iteration, the simulation step size for time advancement is set to , the solution step length for each device is ; The simulation step size and solution step size meet , and if the multiple relationship between the two is an integer multiple relationship or not, the multiple will be rounded up and the multiple relationship between the two will be used as the number of iterations in a single simulation step. , ; Each iteration consists of the following steps:

[0009] S2.1, let the global simulation time of this iteration be , through motion transfer simulation, update the connection nodes between each device in the first The location at the moment;

[0010] S2.2, using the connection nodes after position update as boundary conditions in load transfer simulation, and obtaining the environmental load of each equipment and the load force and moment of the auxiliary equipment through load transfer simulation;

[0011] S2.3, the environmental load of each equipment and the load force and torque of the auxiliary equipment are substituted into the equipment independent motion simulation model, and the hydrodynamic and static forces of each equipment are combined to obtain the load force and torque of each equipment in the first The combined force at any given moment;

[0012] S2.4, in the simulation step In the following example, each device is used in The resultant force at the moment is divided by the mass and moment of inertia of each device and the additional mass and additional moment of inertia to obtain the device acceleration;

[0013] By using the Runge-Kutta method, the solution step size is conduct The points are calculated and the equipment is obtained in The real-time data of the joint simulation at the moment; the real-time data of the joint simulation includes the movement of each equipment and the load of the auxiliary equipment;

[0014] S2.5. Determine whether the iteration is finished:

[0015] If the iteration is not completed, update the simulation time , continue to the next iteration;

[0016] Otherwise, the iteration ends and the simulation method is completed.

[0017] Further, a preferred embodiment is provided, wherein step S1 comprises the following steps:

[0018] S1.1. According to the installation operation simulation scenario, establish the basic mathematical model of installation simulation for each equipment:

[0019]

[0020] in, Represents the equipment number. , is a positive integer; For the The mass and moment of inertia of each device; For the Additional mass and additional moment of inertia of each piece of equipment; For the The total force on each piece of equipment; For the The movement acceleration of each device;

[0021] Through integral iteration, we get The movement speed of the equipment is And the posture is ;

[0022] S1.2. Calculate The total force on each equipment:

[0023] ;

[0024] in, For the Wind load on each equipment, For the The current load on each device, For the Wave loads on each piece of equipment;

[0025] S1.3. According to the basic mathematical model of the installation simulation of each equipment and the resultant force it is subjected to, the independent motion simulation model of the equipment is obtained.

[0026] Further, a preferred embodiment is provided, in the step S1.2, if the If the equipment is a suspension rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained by the following method:

[0027] The suspension ropes and anchor cables of different materials are modeled separately, and the resultant force on each node is :

[0028]

[0029] Among them, the subscript The number representing the suspension rope or anchor cable, , is the total number of suspension ropes or anchor cables; Representative The number of the concentrated mass node in the suspension rope or anchor cable. Suppose each suspension rope or anchor cable consists of If it is composed of several cables, each suspension rope or anchor cable contains Concentrated mass nodes, ; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Bending moment force at a concentrated mass node; For the The first of the suspension ropes or anchor cables The lateral resistance at the concentrated mass nodes; For the The first of the suspension ropes or anchor cables Tangential resistance at each concentrated mass node; For the The first of the suspension ropes or anchor cables Other external forces acting on concentrated mass nodes;

[0030] ,in, For the The stiffness of the suspension rope or anchor cable, For the The diameter of the suspension rope or anchor cable, For the The first of the suspension ropes or anchor cables The segment length of the concentrated mass point is and For the The first of the suspension ropes or anchor cables and The coordinates of the concentrated mass nodes;

[0031] ,in, For the The internal damping coefficient of a suspension rope or anchor cable, is the strain rate;

[0032] ,in, For the Bending stiffness of a suspension rope or anchor cable; for The curvature of For the The first of the suspension ropes or anchor cables The segmented stretching length of each concentrated mass point.

[0033] Further, a preferred embodiment is provided, wherein step 2.1 comprises the following steps:

[0034] S2.1.1. Divide the equipment in the installation operation simulation scene into a transmission body and auxiliary equipment, and determine the connection nodes between the auxiliary equipment and the transmission body; the connection nodes are divided into nodes that move directly with the transmission body and nodes that move indirectly with the transmission body constrained by the equipment operation range;

[0035] S2.1.2. For nodes that move directly with the transfer subject:

[0036] According to the Euler angle, rotation order and external rotation method, the transfer subject is The movement at the moment is calculated and updated, and the node that moves directly with the transmitting subject is obtained at the The location at the moment;

[0037] S2.1.3. For nodes that move indirectly with the transfer subject and are constrained by the equipment's control range:

[0038] According to the DH parameter method, the transfer subject is not considered in the calculation. The movement at time t, only considering the constraints of the equipment's operating range, calculates and updates its center of gravity relative to the transfer body in the The location at the moment;

[0039] According to its relative to the center of gravity of the transmitting body The position at the moment, according to the Euler angle, rotation order and external rotation method, the transmitting subject is at the The movement at the moment is calculated and updated, and the node that is indirectly moving with the transfer subject and is constrained by the equipment's control range is obtained at the The position at the moment.

[0040] Further, a preferred embodiment is provided, wherein step S2.2 comprises the following steps:

[0041] S2.2.1、Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer;

[0042] S2.2.2 For environmental load transfer:

[0043] According to the hydrodynamic characteristics of the transmission body and the calculation of the six-degree-of-freedom motion of the transmission body, the body coordinate system acting on the center of gravity of the transmission body is obtained. axis, Axis and Environmental load forces and moments on the shaft;

[0044] S2.2.3 For load transfer of accessory equipment:

[0045] The connected nodes with updated positions are used as boundary conditions;

[0046] According to the equipment independent motion simulation model, the force of the connection node relative to the center of gravity of the transmission body and the position of the connection node relative to the center of gravity of the transmission body are obtained;

[0047] Multiply the force of the connection node relative to the center of gravity of the transfer body by the position of the connection node relative to the center of gravity of the transfer body to obtain the body coordinate system acting on the center of gravity of the transfer body axis, Axis and The load forces and moments of the shaft's accessory equipment.

[0048] The present invention also proposes a joint modeling and simulation system for marine engineering installation operations, and its technical solution is as follows:

[0049] The system includes: a collaborative operation equipment configuration and motion simulation platform, a marine engineering installation operation collaborative simulation platform, a simulation support platform and a number of simulation stations;

[0050] The offshore engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework; the distributed collaborative simulation core framework serves as a central control node, is connected to a plurality of simulation stations through network communication, and is used to provide a data communication interface and resource allocation scheduling according to the installation operation simulation scenario, and control the simulation process;

[0051] Each simulation station acts as a distributed node to provide semi-physical simulation equipment;

[0052] The collaborative operation equipment configuration and motion simulation platform is used to provide a joint simulation model framework for equipment installation operations applicable to floating structures, rod structures, and suspension ropes and anchor cables composed of concentrated mass nodes;

[0053] The equipment installation operation joint simulation model framework is used to construct an equipment independent motion simulation model according to the type of equipment in the installation operation simulation scenario, using the above-mentioned marine engineering installation operation joint modeling and simulation method, and to perform integrated simulation through motion transfer and load transfer, and reuse and share the equipment independent motion simulation model to obtain joint simulation real-time data;

[0054] The simulation support platform is used to connect with the simulation stations required for the installation operation simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the installation operation simulation scenario.

[0055] Further, a preferred embodiment is provided, wherein the system further comprises: a visual simulation platform;

[0056] The visual simulation platform includes a two-dimensional data visualization module and a three-dimensional model visualization module;

[0057] The three-dimensional model visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and drive the operation of the three-dimensional model in the visualized three-dimensional picture according to the joint simulation real-time data;

[0058] The two-dimensional data visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and display the joint simulation real-time data as a two-dimensional data curve in the visualized two-dimensional screen.

[0059] Furthermore, a preferred embodiment is provided, wherein the plurality of simulation stations include: a floating equipment installation simulation station, an installation vessel simulation station, a jacket installation simulation station, an underwater robot simulation station, a spherical screen vision simulation station, and a crane simulation station.

[0060] Further, a preferred implementation is provided, wherein the simulation support platform comprises: a construction drill module and a personnel training module;

[0061] The construction drill module is used to connect with the simulation station required for the construction drill simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation under the construction drill simulation scenario;

[0062] The personnel training module is used to connect with the simulation stations required for the personnel training simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the personnel training simulation scenario.

[0063] Further, a preferred embodiment is provided, wherein the simulation support platform further comprises: a data storage module;

[0064] The data storage module is used to store the real-time data of the joint simulation generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform.

[0065] The present invention has the following beneficial effects:

[0066] 1. The joint modeling and simulation method for marine engineering installation operations described in the present invention simplifies calculations, improves simulation efficiency, and can meet the real-time requirements of engineering drills by independently modeling each collaboratively simulated equipment and performing unified integrated simulation.

[0067] 2. The marine engineering installation operation joint modeling and simulation system described in the present invention selects and plans different simulation stations according to different installation operation simulation requirements, calculates and loads different equipment loads, realizes the reuse and sharing of equipment independent motion simulation models, effectively expands the application scope of the simulation system, and enhances the system reusability and operability.

[0068] 3. The marine engineering installation operation joint modeling and simulation system described in the present invention adopts a distributed method to construct a collaborative simulation platform for marine engineering installation operations. The simulation stations required for different marine engineering installation operation scenarios can be used as independent simulation nodes for organizational management and resource coordination (i.e., resource allocation and scheduling). That is, according to the simulation requirements of different installation operations, different simulation stations are selected and planned, and different equipment loads are calculated and loaded, thereby realizing the reuse and sharing of independent motion simulation models of equipment, effectively expanding the scope of application of the simulation system and enhancing the system reusability and operability.

[0069] 4. The joint modeling and simulation system for marine engineering installation operations described in the present invention supports independent modeling of each collaboratively simulated equipment through the collaborative operation equipment configuration and motion simulation platform, and is deployed on different computers. Integrated simulation is performed through the coupling relationship between the equipment (i.e., motion transfer and load transfer), thereby realizing the reuse and sharing of independent motion simulation models of equipment, and improving the execution efficiency of the system while ensuring the simulation accuracy.

[0070] The method and system for joint modeling and simulation of marine engineering installation operations described in the present invention are suitable for joint modeling and simulation of marine engineering installation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0072] Figure 1 A flowchart of a joint modeling and simulation method for marine engineering installation operations in one embodiment of the present invention;

[0073] Figure 2A schematic diagram of the structure of a joint modeling and simulation system for marine engineering installation operations in one embodiment of the present invention;

[0074] Figure 3 It is a flowchart of a method for constructing an equipment independent motion simulation model of a joint modeling and simulation system for marine engineering installation operations in one embodiment of the present invention;

[0075] Figure 4 A schematic diagram of three-dimensional visualization in a simulation scene of a jacket skirt pile installation operation with two vessels in one embodiment of the present invention;

[0076] Figure 5 It is a schematic diagram of a two-dimensional data curve of the load of the auxiliary equipment of the equipment in a simulation scene of the jacket skirt pile double-ship joint lifting installation operation in one embodiment of the present invention;

[0077] Figure 6 It is a schematic diagram of a two-dimensional data curve of the movement of equipment in a simulation scenario of a jacket skirt pile installation operation with two vessels in one embodiment of the present invention. DETAILED DESCRIPTION

[0078] In order to make the technical solutions and advantages of the present invention more clearly described, the specific implementation methods of the present invention will be further described in detail and completely in conjunction with the accompanying drawings. The various implementation methods described below are only part of the preferred solutions of the present invention, rather than all implementation methods; the various implementation methods described below are intended to explain the present invention and cannot be understood as limitations on the present invention; the reasonable combination of technical features defined in the various implementation methods of the present invention, and all other implementation methods obtained by ordinary technicians in the field without creative work based on the implementation methods of the present invention, are within the scope of protection of the present invention.

[0079] Implementation Method 1: Combination Figures 1 to 6 This embodiment describes a joint modeling and simulation method for marine engineering installation operations. The specific implementation contents are as follows:

[0080] The method comprises the following steps:

[0081] S1. According to the installation operation simulation scenario, calculate and load the loads on each equipment to obtain an independent motion simulation model of the equipment;

[0082] S2. In a given simulation time, an iterative method is used to obtain the real-time data of the joint simulation based on the equipment independent motion simulation model; wherein, in each iteration, the simulation step size for time advancement is set to , the solution step length for each device is ; The simulation step size and solution step size meet , and if the multiple relationship between the two is an integer multiple relationship or not, the multiple will be rounded up and the multiple relationship between the two will be used as the number of iterations in a single simulation step. , ; Each iteration consists of the following steps:

[0083] S2.1, let the global simulation time of this iteration be , through motion transfer simulation, update the connection nodes between each device in the first The location at the moment;

[0084] S2.2, using the connection nodes after position update as boundary conditions in load transfer simulation, and obtaining the environmental load of each equipment and the load force and moment of the auxiliary equipment through load transfer simulation;

[0085] S2.3, the environmental load of each equipment and the load force and torque of the auxiliary equipment are substituted into the equipment independent motion simulation model, and the hydrodynamic and static forces of each equipment are combined to obtain the load force and torque of each equipment in the first The combined force at any given moment;

[0086] S2.4, in the simulation step In the following example, each device is used in The resultant force at the moment is divided by the mass and moment of inertia of each device and the additional mass and additional moment of inertia to obtain the device acceleration;

[0087] By using the Runge-Kutta method, the solution step size is conduct The points are calculated and the equipment is obtained in The real-time data of the joint simulation at the moment; the real-time data of the joint simulation includes the movement of each equipment and the load of the auxiliary equipment;

[0088] S2.5. Determine whether the iteration is finished:

[0089] If the iteration is not completed, update the simulation time , continue to the next iteration;

[0090] Otherwise, the iteration ends and the simulation method is completed.

[0091] In this embodiment, an external signal can be used to determine whether the iteration is finished. For example, in practical applications, the simulation method is implemented using a simulation system, and the simulation system generally has a coach simulation position, and the coach simulation position is used to control the end of the simulation, and the iteration in the simulation is also finished.

[0092] Implementation Method 2: Combination Figures 1 to 6This embodiment is described. This embodiment further limits the joint modeling and simulation method for marine engineering installation operations described in the first embodiment. The specific implementation contents are as follows:

[0093] The step S1 comprises the following steps:

[0094] S1.1. According to the installation operation simulation scenario, establish the basic mathematical model of installation simulation for each equipment:

[0095]

[0096] in, Represents the equipment number. , is a positive integer; For the The mass and moment of inertia of each device; For the Additional mass and additional moment of inertia of each piece of equipment; For the The total force on each piece of equipment; For the The movement acceleration of each device;

[0097] Through integral iteration, we get The movement speed of the equipment is And the posture is ;

[0098] S1.2. Calculate The total force on each equipment:

[0099] ;

[0100] in, For the Wind load on each equipment, For the The current load on each device, For the Wave loads on each piece of equipment;

[0101] S1.3. According to the basic mathematical model of the installation simulation of each equipment and the resultant force it is subjected to, the independent motion simulation model of the equipment is obtained.

[0102] In this embodiment, The total force on each device includes the force acting on the Equipment body coordinate system Three forces and moments in different directions.

[0103] In this embodiment, The hydrodynamic and static forces on each equipment are calculated differently according to the equipment type (including floating structures and rod structures):

[0104] For example, in the simulation scenario of the jacket skirt pile lifting and installation operation with two ships, it is necessary to calculate the combined forces of the installation ship, dynamic positioning ship, steel piles, lifting ropes and anchor cables.

[0105] The hydrodynamic and static forces of the installation vessel (a floating structure) are expressed as:

[0106] ;

[0107] in, is the damping force; For centripetal force; is the fluid memory effect force; is the hydrostatic restoring force;

[0108] , is the damping matrix;

[0109] , is the sum of the centripetal force and Coriolis force matrices;

[0110] , is the simulation time, is the delay function, It is unit pulse input;

[0111] , is the stiffness matrix.

[0112] The hydrodynamic and static forces of steel piles (belonging to bar structures) are expressed as:

[0113] ;

[0114] in, is the inertial force, For drag force, For buoyancy and For gravity.

[0115] Implementation Method 3: Combination Figures 1 to 6 This embodiment is described. This embodiment further limits the joint modeling and simulation method for marine engineering installation operations described in the second embodiment. The specific implementation contents are as follows:

[0116] In step S1.2, if the If the equipment is a suspension rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained by the following method:

[0117] The suspension ropes and anchor cables of different materials are modeled separately, and the resultant force on each node is :

[0118]

[0119] Among them, the subscript The number representing the suspension rope or anchor cable, , is the total number of suspension ropes or anchor cables; Representative The number of the concentrated mass node in the suspension rope or anchor cable. Suppose each suspension rope or anchor cable consists of If it is composed of several cables, each suspension rope or anchor cable contains Concentrated mass nodes, ; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Bending moment force at a concentrated mass node; For the The first of the suspension ropes or anchor cables The lateral resistance at the concentrated mass nodes; For the The first of the suspension ropes or anchor cables Tangential resistance at each concentrated mass node; For the The first of the suspension ropes or anchor cables Other external forces acting on concentrated mass nodes;

[0120] ,in, For the The stiffness of the suspension rope or anchor cable, For the The diameter of the suspension rope or anchor cable, For the The first of the suspension ropes or anchor cables The segment length of the concentrated mass point is and For the The first of the suspension ropes or anchor cables and The coordinates of the concentrated mass nodes;

[0121] ,in, For the The internal damping coefficient of the suspension rope or anchor cable, is the strain rate;

[0122] ,in, For the Bending stiffness of a suspension rope or anchor cable; for The curvature of For the The first of the suspension ropes or anchor cables The segmented stretching length of each concentrated mass point.

[0123] In this embodiment, for equipment such as suspension ropes and anchor cables composed of concentrated mass nodes, the calculation method of the resultant force they are subjected to is different from that of other equipment, and the above-mentioned special processing method needs to be adopted.

[0124] Furthermore, a specific implementation method is provided, and a method for obtaining an independent motion simulation model of equipment is described by taking a simulation scenario of a jacket skirt pile installation operation with two ships as an example, as follows:

[0125] The simulation process consists of a collaborative simulation of 1 anchor positioning installation vessel (equipped with 8 anchor cables), 1 dynamic positioning vessel, 1 steel pile, and 2 suspension ropes.

[0126] According to the installation operation simulation scenario, the loads on each piece of equipment are calculated and loaded to obtain the independent motion simulation model of the equipment:

[0127] The simulation scenario of the jacket skirt pile installation operation with two ships lifting together requires the establishment of independent motion simulation models of the lifting rope and anchor cable, installation ship, dynamic positioning ship and steel piles;

[0128] Firstly, according to the simulation scenario of the jacket skirt pile installation operation with two ships, the basic mathematical model for the installation simulation of each equipment is established:

[0129] ;

[0130] Through integral iteration, we get The movement speed of the equipment is And the posture is ;

[0131] Then, calculate the combined force on each piece of equipment :

[0132] The combined force on the installation vessel, dynamic positioning vessel and steel piles is for:

[0133]

[0134] in:

[0135] , , Environmental forces are considered for both ship and pile motion solutions;

[0136] for ; When the When there is no connection cable for a device, is 0.

[0137] Other external forces such as propellers of dynamic positioning vessels;

[0138] Jordi If the equipment is completely above water, the hydrodynamic force, wave load and flow load are all zero.

[0139] For suspension ropes and anchor cables composed of concentrated mass nodes, they are treated as special cases and their resultant forces are obtained by the following method:

[0140] Assume that the total number of suspension ropes or anchor cables is 10, that is ;

[0141] The suspension ropes and anchor cables of different materials are modeled separately, and the resultant force on each concentrated mass node is :

[0142]

[0143] in, For the The first of the suspension ropes or anchor cables The anchor gravity and other external forces acting on a concentrated mass node.

[0144] Finally, according to the above-mentioned basic mathematical model of installation simulation and the calculation and loading method of the resultant force on each equipment, an independent motion simulation model of the equipment is formed, in which:

[0145] The independent motion simulation model of the ship (installation ship, dynamic positioning ship) is:

[0146]

[0147] The independent motion simulation model of the steel pile is:

[0148]

[0149] The independent motion simulation model of the suspension rope and anchor cable composed of concentrated mass nodes is:

[0150] .

[0151] Implementation Method 4: Combination Figures 1 to 6 This embodiment is described. This embodiment further limits the joint modeling and simulation method for marine engineering installation operations described in the first embodiment. The specific implementation contents are as follows:

[0152] The step 2.1 comprises the following steps:

[0153] S2.1.1. Divide the equipment in the installation operation simulation scene into a transmission body and auxiliary equipment, and determine the connection nodes between the auxiliary equipment and the transmission body; the connection nodes are divided into nodes that move directly with the transmission body and nodes that move indirectly with the transmission body constrained by the equipment operation range;

[0154] S2.1.2. For nodes that move directly with the transfer subject:

[0155] According to the Euler angle, rotation order and external rotation method, the transfer subject is The movement at the moment is calculated and updated, and the node that moves directly with the transmitting subject is obtained at the The location at the moment;

[0156] S2.1.3. For nodes that move indirectly with the transfer subject and are constrained by the equipment's control range:

[0157] According to the DH parameter method, the transfer subject is not considered in the calculation. The movement at time t, only considering the constraints of the equipment's operating range, calculates and updates its center of gravity relative to the transfer body in the The location at the moment;

[0158] According to its relative to the center of gravity of the transmitting body The position at the moment, according to the Euler angle, rotation order and external rotation method, the transmitting subject is at the The movement at the moment is calculated and updated, and the node that is indirectly moving with the transfer subject and is constrained by the equipment's control range is obtained at the The position at the moment.

[0159] Furthermore, a specific implementation method is provided, and the motion transfer simulation is explained by taking the simulation scenario of the jacket skirt pile installation operation of two ships as an example, as follows:

[0160] Through motion transfer simulation, the positions of the crane apex, anchor cable fairlead hole, and suspension rope connection point (i.e., connection node) that move with the hull and steel piles are updated:

[0161] First, the installation vessel, dynamic positioning vessel and steel piles are regarded as the transmission subjects; the suspension rope and anchor cable are regarded as auxiliary equipment; the connection nodes are confirmed as follows:

[0162] The No. 0 nodes of the suspension ropes No. 1 and No. 2 are both connected to the steel piles. The nodes of anchor cables numbered 3 to 10 are all connected to the crane on the hull; The nodes are directly connected to the hull, that is, the connection nodes , , , , Moves with the transmitting body, where , , is the node that moves directly with the transmitting subject, , The nodes that move indirectly with the transfer body considering the crane's operating range constraints:

[0163] Then, for the node , , , according to the Euler angle, rotation order And the external rotation method, for the node in the first The position at the moment is calculated and updated;

[0164] Finally, for , :

[0165] First, the DH parameter method is used to calculate the position of the connection point between the lifting rope and the crane relative to the center of gravity of the installation vessel, without considering the movement of the installation vessel. Only the lifting rope moves with the crane joint, and the position of the connection point between the lifting rope and the crane is considered.

[0166] Then according to the Euler angle, rotation order And the external rotation method, calculate the update node , In the The position at the moment.

[0167] Implementation Method 5: Combination Figures 1 to 6 This embodiment is described. This embodiment further limits the joint modeling and simulation method for marine engineering installation operations described in the first embodiment. The specific implementation contents are as follows:

[0168] The step S2.2 comprises the following steps:

[0169] S2.2.1、Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer;

[0170] S2.2.2 For environmental load transfer:

[0171] According to the hydrodynamic characteristics of the transmission body and the calculation of the six-degree-of-freedom motion of the transmission body, the body coordinate system acting on the center of gravity of the transmission body is obtained. axis, Axis and Environmental load forces and moments on the shaft;

[0172] S2.2.3 For load transfer of accessory equipment:

[0173] The connected nodes with updated positions are used as boundary conditions;

[0174] According to the equipment independent motion simulation model, the force of the connection node relative to the center of gravity of the transmission body and the position of the connection node relative to the center of gravity of the transmission body are obtained;

[0175] Multiply the force of the connection node relative to the center of gravity of the transfer body by the position of the connection node relative to the center of gravity of the transfer body to obtain the body coordinate system acting on the center of gravity of the transfer body axis, Axis and The load forces and moments of the shaft's accessory equipment.

[0176] Furthermore, a specific implementation method is provided, and load transfer simulation is described by taking the simulation scenario of the jacket skirt pile installation operation of two ships as an example, as follows:

[0177] Load transfer simulation is divided into environmental load transfer and load transfer of auxiliary equipment such as anchor cables and suspension cables;

[0178] Through motion transfer simulation, the crane apex, anchor cable fairlead hole, and suspension rope connection point positions that move with the hull and steel piles are updated;

[0179] The above-mentioned updated connection nodes (positions) are used as boundary conditions for the calculation of the loads of the suspension ropes and anchor cables (i.e., the loads of the auxiliary equipment); specifically:

[0180] First, , , , , As boundary conditions, used to simulate the suspension rope and anchor cable data within the step length and load data , , Calculate the cable force , used for load transfer;

[0181] Then, for the environmental load transfer:

[0182] According to the hydrodynamic characteristics of the transfer body and the six-degree-of-freedom motion calculation of the transfer body, the body coordinate system acting on the center of gravity of the transfer body is obtained. axis, axis, Environmental load forces and moments on the shaft;

[0183] Then, for the load transfer of auxiliary equipment, that is, the load transfer process of anchor cables and suspension cables:

[0184] According to the independent motion simulation model of the flexible cable composed of concentrated mass nodes, the force acting on the concentrated mass node No. 0 of the No. 1 suspension rope relative to the center of gravity of the steel pile is calculated. , and the position of the suspension rope connection relative to the center of gravity of the steel pile ;

[0185] Will and Multiply and combine to obtain the body coordinate system acting on the center of gravity of the steel pile axis, axis, Axial load forces and moments of accessory equipment:

[0186] ;

[0187] Load transfer of other auxiliary equipment, such as the concentrated mass node No. 0 of the No. 2 suspension rope and the steel pile, the No. 1 or No. 2 suspension rope The concentrated mass node No. 1 and the ship, and the anchor cables No. 3 to 10 The load transfer process between the concentrated mass node and the ship is the same as above;

[0188] Finally, the above environmental loads and the load forces and moments of the auxiliary equipment such as anchor cables and suspension ropes are substituted into the independent motion simulation model of the equipment within the simulation step, and summed with the hydrodynamic and static forces of the equipment itself to form the resultant force on the equipment. .

[0189] Implementation Method 6: Combination Figures 1 to 6 This embodiment describes a joint modeling and simulation system for marine engineering installation operations. The specific implementation contents are as follows:

[0190] The system includes: a collaborative operation equipment configuration and motion simulation platform, a marine engineering installation operation collaborative simulation platform, a simulation support platform and a number of simulation stations;

[0191] The offshore engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework; the distributed collaborative simulation core framework serves as a central control node, is connected to a plurality of simulation stations through network communication, and is used to provide a data communication interface and resource allocation scheduling according to the installation operation simulation scenario, and control the simulation process;

[0192] Each simulation station acts as a distributed node to provide semi-physical simulation equipment;

[0193] The collaborative operation equipment configuration and motion simulation platform is used to provide a joint simulation model framework for equipment installation operations applicable to floating structures, rod structures, and suspension ropes and anchor cables composed of concentrated mass nodes;

[0194] The equipment installation operation joint simulation model framework is used to construct an equipment independent motion simulation model according to the type of equipment in the installation operation simulation scenario, using the above-mentioned marine engineering installation operation joint modeling and simulation method, and to perform integrated simulation through motion transfer and load transfer, and reuse and share the equipment independent motion simulation model to obtain joint simulation real-time data;

[0195] The simulation support platform is used to connect with the simulation stations required for the installation operation simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the installation operation simulation scenario.

[0196] In this implementation, the equipment independent motion simulation model is a mathematical calculation model.

[0197] In this embodiment, the calculated and loaded loads include the hydrodynamic and static forces on the equipment, environmental forces, cable forces and other external forces.

[0198] In this embodiment, the several simulation stations are simulation operation stations for the various simulation objects included in the installation operation simulation scene. The simulation operation station generally refers to a special work position or station set up for an operator or user in a simulated or simulated environment. The purpose of designing this station is to enable the operator to perform various operations, tests or training in an environment that is close to reality but relatively safe to evaluate his skills, reactions or decision-making abilities. The simulation operation station is usually equipped with necessary hardware and software equipment to simulate various conditions and situations in the actual working environment. For example, in the field of marine engineering, the simulation operation station will simulate the cockpit of the ship, including the propeller, steering gear, anchor windlass console and other navigation-related equipment, so that the crew can perform navigation training in a simulated environment.

[0199] In this embodiment, semi-physical simulation equipment, also known as physical-mathematical simulation or semi-physical simulation equipment, is a system real-time simulation method. In this method, a part of the simulated object system is introduced into the simulation loop in the form of a physical object (or physical model), while the rest of the simulated object system is described by a mathematical model and converted into a simulation calculation model (i.e., an equipment independent motion simulation model). By using the physical effect model, a joint simulation of real-time mathematical simulation and physical simulation is performed. Semi-physical simulation equipment usually consists of a simulation computer that meets real-time requirements, a motion simulator, a target simulator, a console, and some physical objects. It has a high degree of fidelity, so it is often used to verify the correctness and feasibility of the control system solution, simulate the fault mode, and conduct closed-loop dynamic acceptance tests on the control system at each development stage.

[0200] Implementation Method 7: Combination Figures 1 to 6 This embodiment is described. This embodiment is a further limitation of the joint modeling and simulation system for marine engineering installation operations described in Embodiment 6. The specific implementation contents are as follows:

[0201] The system also includes: a visual simulation platform;

[0202] The visual simulation platform includes a two-dimensional data visualization module and a three-dimensional model visualization module;

[0203] The three-dimensional model visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and drive the operation of the three-dimensional model in the visualized three-dimensional picture according to the joint simulation real-time data;

[0204] The two-dimensional data visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and display the joint simulation real-time data as a two-dimensional data curve in the visualized two-dimensional screen.

[0205] In this embodiment, the three-dimensional visualization picture is constructed by a three-dimensional model visualization module. The three-dimensional model in the three-dimensional visualization picture is a three-dimensional model of equipment for simulation constructed by the three-dimensional model visualization module using modeling software.

[0206] In this implementation, the visualized two-dimensional picture is constructed by a two-dimensional data visualization module.

[0207] Implementation Method 8: Combination Figures 1 to 6This embodiment is described. This embodiment is a further limitation of the joint modeling and simulation system for marine engineering installation operations described in Embodiment 6. The specific implementation contents are as follows:

[0208] The several simulation stations include: a floating equipment installation simulation station, an installation vessel simulation station, a jacket installation simulation station, an underwater robot simulation station, a spherical screen vision simulation station and a crane simulation station.

[0209] In this implementation manner, the plurality of simulation positions also include a coach simulation position.

[0210] Implementation Method 9: Combination Figures 1 to 6 This embodiment is described. This embodiment is a further limitation of the joint modeling and simulation system for marine engineering installation operations described in Embodiment 6. The specific implementation contents are as follows:

[0211] The simulation support platform includes: a construction drill module and a personnel training module;

[0212] The construction drill module is used to connect with the simulation station required for the construction drill simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation under the construction drill simulation scenario;

[0213] The personnel training module is used to connect with the simulation stations required for the personnel training simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the personnel training simulation scenario.

[0214] Implementation Method 10: Combination Figures 1 to 6 This embodiment is described. This embodiment is a further limitation of the joint modeling and simulation system for marine engineering installation operations described in Embodiment 6. The specific implementation contents are as follows:

[0215] The simulation support platform also includes: a data storage module;

[0216] The data storage module is used to store the real-time data of the joint simulation generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform.

[0217] Furthermore, a preferred embodiment is provided, wherein the simulation support platform further includes a solution optimization module, an auxiliary decision module and a playback function module:

[0218] The scheme optimization module is used to optimize the construction scheme of the installation operation simulation scenario according to the joint simulation real-time data stored in the data storage module;

[0219] The auxiliary decision-making module is used to provide construction personnel with auxiliary decision-making basis based on the real-time data of the joint simulation stored in the data storage module and the three-dimensional scene provided by the visual simulation platform;

[0220] The playback function module is used to provide a three-dimensional scene and two-dimensional data playback function using a visual simulation platform according to the real-time data of the joint simulation stored in the data storage module.

[0221] Furthermore, a specific implementation method is provided, and the use of the joint modeling and simulation system for offshore engineering installation operations is explained by taking the simulation scenario of the jacket skirt pile installation operation of two ships as an example, as follows:

[0222] Firstly, a distributed approach is adopted to establish a collaborative simulation platform for marine engineering installation operations consisting of a central control node and multiple simulation nodes (i.e., several simulation stations).

[0223] Then, according to the simulation scenario of the jacket skirt pile installation operation with two ships, the simulation nodes (i.e. resource allocation and scheduling) are planned, including:

[0224] At the simulation station for jacket skirt pile installation, the motion response calculations of steel piles and suspension ropes are performed respectively; at the installation vessel simulation station, the motion response calculations of the moored positioning installation vessel and anchor cable are performed respectively; at the dynamic positioning vessel simulation station, the motion response calculations of the dynamic positioning vessel are performed respectively; at the crane simulation station, the crane operations of the installation vessel and the dynamic positioning vessel are performed respectively; at the instructor simulation station, subject release and data recording and analysis are performed; at the spherical screen vision simulation station, three-dimensional vision display is performed.

[0225] The collaborative simulation platform for offshore engineering installation operations allocates a data communication interface to each simulation node.

[0226] Then, according to the simulation scenario of the jacket skirt pile installation operation with two ships, steel piles, lifting ropes, installation ships, anchor cables, and dynamic positioning ships are used as equipment for joint simulation. In the collaborative equipment configuration and motion simulation platform, according to the simulation scenario of the jacket skirt pile installation operation with two ships, the loads of each joint simulation are calculated and loaded to form an independent motion simulation model of the equipment.

[0227] Then, the simulation method is used to perform simulation and obtain Equipment movement and accessory equipment load at all times.

[0228] Then, based on the collaborative simulation platform for offshore engineering installation operations and its assigned data communication interface, the data obtained in the first The equipment movement and auxiliary equipment load at each moment are synchronously provided to the visual simulation platform and simulation support platform for two-dimensional data display, three-dimensional model driving and simulation data analysis.

[0229] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable changes and improvements to the present invention, reasonable combinations of implementation modes and equivalent substitutions based on the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A joint modeling and simulation method for marine engineering installation operations, characterized in that: The method comprises the following steps: S1. According to the installation operation simulation scenario, calculate and load the loads on each equipment to obtain an independent motion simulation model of the equipment; S2. In a given simulation time, an iterative method is used to obtain the real-time data of the joint simulation based on the equipment independent motion simulation model; wherein, in each iteration, the simulation step size for time advancement is set to , the solution step length for each device is ; The simulation step size and solution step size meet , and if the multiple relationship between the two is an integer multiple relationship or not, the multiple will be rounded up and the multiple relationship between the two will be used as the number of iterations in a single simulation step. , ; Each iteration consists of the following steps: S2.1, let the global simulation time of this iteration be , through motion transfer simulation, update the connection nodes between each device in the first The location at the moment; S2.2, using the connection nodes after position update as boundary conditions in load transfer simulation, and obtaining the environmental load of each equipment and the load force and moment of the auxiliary equipment through load transfer simulation; S2.3, the environmental load of each equipment and the load force and torque of the auxiliary equipment are substituted into the equipment independent motion simulation model, and the hydrodynamic and static forces of each equipment are combined to obtain the load force and torque of each equipment in the first The combined force at any given moment; S2.4, in the simulation step In the following example, each device is used in The resultant force at the moment is divided by the mass and moment of inertia of each device and the additional mass and additional moment of inertia to obtain the device acceleration; By using the Runge-Kutta method, the solution step size is conduct The points are calculated and the equipment is obtained in The real-time data of the joint simulation at the moment; the real-time data of the joint simulation includes the movement of each equipment and the load of the auxiliary equipment; S2.

5. Determine whether the iteration is finished: If the iteration is not completed, update the simulation time , continue to the next iteration; Otherwise, the iteration ends and the simulation method is completed; The step 2.1 comprises the following steps: S2.1.

1. Divide the equipment in the installation operation simulation scene into a transmission body and auxiliary equipment, and determine the connection nodes between the auxiliary equipment and the transmission body; the connection nodes are divided into nodes that move directly with the transmission body and nodes that move indirectly with the transmission body constrained by the equipment operation range; S2.1.

2. For nodes that move directly with the transfer subject: According to the Euler angle, rotation order and external rotation method, the transfer subject is The movement at the moment is calculated and updated, and the node that moves directly with the transmitting subject is obtained at the The location at the moment; S2.1.

3. For nodes that move indirectly with the transfer subject and are constrained by the equipment's control range: According to the DH parameter method, the transfer subject is not considered in the calculation. The movement at time t, only considering the constraints of the equipment's operating range, calculates and updates its center of gravity relative to the transfer body in the The location at the moment; According to its relative to the center of gravity of the transmitting body The position at the moment, according to the Euler angle, rotation order and external rotation method, the transmitting subject is at the The movement at the moment is calculated and updated, and the node that is indirectly moving with the transfer subject and is constrained by the equipment's control range is obtained at the The position at the moment.

2. The method for joint modeling and simulation of marine engineering installation operations according to claim 1 is characterized in that: The step S1 comprises the following steps: S1.

1. According to the installation operation simulation scenario, establish the basic mathematical model of installation simulation for each equipment: in, Represents the equipment number. , is a positive integer; For the The mass and moment of inertia of each device; For the Additional mass and additional moment of inertia of each piece of equipment; For the The total force on each piece of equipment; For the The acceleration of the movement of each device; Through integral iteration, we get The movement speed of the equipment is And the posture is ; S1.

2. Calculate The total force on each equipment: ； in, For the Wind load on each equipment, For the The current load on each device, For the Wave loads on individual equipment; S1.

3. According to the basic mathematical model of the installation simulation of each equipment and the resultant force it is subjected to, the independent motion simulation model of the equipment is obtained.

3. The method for joint modeling and simulation of marine engineering installation operations according to claim 2 is characterized in that: In step S1.2, if the If the equipment is a suspension rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained by the following method: The suspension ropes and anchor cables of different materials are modeled separately, and the resultant force on each node is : Among them, the subscript The number representing the suspension rope or anchor cable, , is the total number of suspension ropes or anchor cables; Representative The number of the concentrated mass node in the suspension rope or anchor cable. Suppose each suspension rope or anchor cable consists of If it is composed of several cables, each suspension rope or anchor cable contains Concentrated mass nodes, ; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented tension; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Segmented internal damping forces; For the The first of the suspension ropes or anchor cables Bending moment force at a concentrated mass node; For the The first of the suspension ropes or anchor cables The lateral resistance at the concentrated mass nodes; For the The first of the suspension ropes or anchor cables Tangential resistance at each concentrated mass node; For the The first of the suspension ropes or anchor cables Other external forces acting on concentrated mass nodes; ,in, For the The stiffness of the suspension rope or anchor cable, For the The diameter of the suspension rope or anchor cable, For the The first of the suspension ropes or anchor cables The segment length of the concentrated mass point is and For the The first of the suspension ropes or anchor cables and The coordinates of the concentrated mass nodes; ,in, For the The internal damping coefficient of a suspension rope or anchor cable, is the strain rate; ,in, For the Bending stiffness of a suspension rope or anchor cable; for The curvature of For the The first of the suspension ropes or anchor cables The segmented stretching length of each concentrated mass point.

4. The method for joint modeling and simulation of marine engineering installation operations according to claim 1, characterized in that: The step S2.2 comprises the following steps: S2.2.1、Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer; S2.2.2 For environmental load transfer: According to the hydrodynamic characteristics of the transmission body and the calculation of the six-degree-of-freedom motion of the transmission body, the body coordinate system acting on the center of gravity of the transmission body is obtained. axis, Axis and Environmental load forces and moments on the shaft; S2.2.3 For load transfer of accessory equipment: The connected nodes with updated positions are used as boundary conditions; According to the equipment independent motion simulation model, the force of the connection node relative to the center of gravity of the transmission body and the position of the connection node relative to the center of gravity of the transmission body are obtained; Multiply the force of the connection node relative to the center of gravity of the transfer body by the position of the connection node relative to the center of gravity of the transfer body to obtain the body coordinate system acting on the center of gravity of the transfer body axis, Axis and The load forces and moments of the shaft's accessory equipment.

5. The joint modeling and simulation system for offshore engineering installation operations is characterized by: The system includes: a collaborative operation equipment configuration and motion simulation platform, a marine engineering installation operation collaborative simulation platform, a simulation support platform and a number of simulation stations; The offshore engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework; the distributed collaborative simulation core framework serves as a central control node, is connected to a plurality of simulation stations through network communication, and is used to provide a data communication interface and resource allocation scheduling according to the installation operation simulation scenario, and control the simulation process; Each simulation station acts as a distributed node to provide semi-physical simulation equipment; The collaborative operation equipment configuration and motion simulation platform is used to provide a joint simulation model framework for equipment installation operations applicable to floating structures, rod structures, and suspension ropes and anchor cables composed of concentrated mass nodes; The equipment installation operation joint simulation model framework is used to construct an equipment independent motion simulation model according to the type of equipment in the installation operation simulation scenario, using the marine engineering installation operation joint modeling and simulation method described in any one of claims 1 to 4, and to perform integrated simulation through motion transfer and load transfer, and reuse and share the equipment independent motion simulation model to obtain joint simulation real-time data; The simulation support platform is used to connect with the simulation stations required for the installation operation simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the installation operation simulation scenario.

6. The joint modeling and simulation system for marine engineering installation operations according to claim 5 is characterized in that: The system also includes: a visual simulation platform; The visual simulation platform includes a two-dimensional data visualization module and a three-dimensional model visualization module; The three-dimensional model visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and drive the operation of the three-dimensional model in the visualized three-dimensional picture according to the joint simulation real-time data; The two-dimensional data visualization module is used to receive the joint simulation real-time data generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and display the joint simulation real-time data as a two-dimensional data curve in the visualized two-dimensional screen.

7. The joint modeling and simulation system for marine engineering installation operations according to claim 5 is characterized in that: The several simulation stations include: a floating equipment installation simulation station, an installation vessel simulation station, a jacket installation simulation station, an underwater robot simulation station, a spherical screen vision simulation station and a crane simulation station.

8. The joint modeling and simulation system for marine engineering installation operations according to claim 5 is characterized in that: The simulation support platform includes: a construction drill module and a personnel training module; The construction drill module is used to connect with the simulation station required for the construction drill simulation scene according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation under the construction drill simulation scene; The personnel training module is used to connect with the simulation stations required for the personnel training simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, call the required semi-physical simulation equipment and equipment independent motion simulation model, and complete the simulation in the personnel training simulation scenario.

9. The joint modeling and simulation system for marine engineering installation operations according to claim 8 is characterized in that: The simulation support platform also includes: a data storage module; The data storage module is used to store the real-time data of the joint simulation generated by the collaborative operation equipment configuration and motion simulation platform according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform.

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