Jacket towing operation intelligent simulation system and modeling method

Abstract

The present invention discloses an intelligent simulation system and modeling method for jacket towing operation, which is applied to the technical fields of marine engineering and virtual simulation. The system includes a distributed collaborative simulation subsystem providing communication interfaces for each subsystem, a general management and evaluation subsystem generating and issuing simulation subjects, an operation control simulation subsystem generating operation commands, a motion simulation subsystem receiving subject parameters and operation commands, performing real-time simulation of the motion states of the jacket, towing vessel and towing cable, and transmitting the same to the visual simulation subsystem, and a visual simulation subsystem performing three-dimensional display of the real-time simulation of the motion states of the jacket, towing vessel and towing cable. The present invention has human-computer interaction properties, can be used for joint training and skill training for marine towing operators, and can also realize installation simulation preview and program verification for jacket towing, which can effectively ensure the safety of operators and equipment, reduce marine work risks, and improve work efficiency, and has obvious economic and social benefits.

Description

[Technical field]

[0001] The present invention relates to the field of marine engineering and virtual simulation technology, and in particular to an intelligent simulation system and modeling method for jacket towing operations. [Background technology]

[0002] As a typical offshore platform, the jacket is characterized by high construction costs, difficult towing, and high transportation risks, and is widely applied to oil development in the sea area near the continental shelf. Usually, the jacket is constructed at a wharf on land and then transported to the target oil field. Wet towing refers to the transportation method in which the jacket is floated by installing a floating tank or tying a buoy after entering the water and then directly towed by a towing vessel. It is between launching and lifting, and is mainly used for short-distance transportation and installation in a designated position. It is characterized by relatively high risk but high economic efficiency. An important factor in offshore installation work is the complex and changeable natural environment. In the wet towing process of the jacket, changes in tides and wind direction are inevitable, so how to overcome the influence of weather changes and ensure the safety and reliability of the wet towing program is the biggest difficulty faced by the wet towing of the jacket. Therefore, conducting a simulation preview of the marine wet towing transportation program before the actual marine construction work, predicting and avoiding the risks of the marine construction work in advance, and verifying the feasibility of the transportation program are of great significance in ensuring the safety of the marine construction work and improving the construction efficiency.

[0003] Therefore, it is an urgent need for those skilled in the art to solve the problem of how to provide an intelligent simulation system and modeling method for jacket towing operation, which can perform a simulation preview of the marine wet towing transportation program before the actual marine construction work, predict and avoid the risks of the marine construction work in advance, verify the feasibility of the transportation program, ensure the safety of the marine construction work, and improve the construction efficiency. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the above, the present invention provides a jacket towing intelligent simulation system and modeling method. By using the HLA distributed simulation architecture, the jacket towing intelligent simulation system is divided into five subsystems, which are a distributed co-simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem, and a motion simulation subsystem. The distributed co-simulation subsystem provides communication interfaces for each federation member, the general management and control subsystem issues training subjects and controls the start and stop of the simulation process, and the motion simulation subsystem receives the initial state of the jacket and the initial state of the towing vessel, the attribute parameters of the towing cable, etc. sent from the trainer through the network, and at the same time receives control commands from the winch console and the towing vessel console, simulates the motion states of the jacket, the towing vessel, and the towing cable in real time, and sends the simulation data to the visual simulation subsystem and the general management and evaluation subsystem for visual roaming and data analysis. Based on the constructed 6-degree-of-freedom motion model, the real-time motion state of the jacket, towing vessel and towing cable can be accurately simulated considering the dynamic sea conditions during towing, and the collision interference and work risks of the jacket towing work process can be intuitively fed back in conjunction with the visual simulation subsystem. The present invention has human-computer interaction properties and can be used for joint training and skill training for marine towing operators, and can also realize the installation simulation preview and program verification for jacket towing, which can effectively ensure the safety of operators and equipment, reduce marine work risks, and improve work efficiency, with obvious economic and social benefits. [Means for solving the problem]

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] A jacket towing operation intelligent simulation system, including a distributed collaborative simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem and a motion simulation subsystem.

[0007] A distributed co-simulation subsystem is used to provide a communication interface to each subsystem.

[0008] The general administration and evaluation subsystem is used to create and publish simulation courses.

[0009] The operational control simulation subsystem is used to generate operational instructions.

[0010] The motion simulation subsystem is used to receive the parameters and operation commands of the simulation subject, perform real-time simulation on the motion status of the jacket, the towing vessel and the towing cable, and transmit them to the visual simulation subsystem.

[0011] A visual simulation subsystem is used to provide three-dimensional display for real-time simulation of the jacket, tow vessel and tow cable motions.

[0012] Optionally, the distributed co-simulation subsystem specifically communicates with each federation member through an RTI interface based on the HLA distributed simulation architecture, and monitors the operation status of each federation member through a federation operation monitoring module.

[0013] Optionally, the overall control and evaluation subsystem includes a trainer console and an overall control and evaluation function, and is used to set the marine environment parameters, the initial position of the jacket and the initial position of the towing vessel, the physical attribute parameters of the towing cable, generate and issue simulation training subjects, control the start and stop of the system simulation, as well as record and visually display the simulation data generated by the motion simulation subsystem.

[0014] Optionally, the operation control simulation subsystem includes a towboat console and a winch console, the towboat console setting basic operation parameters such as the direction and speed of travel of the towboat, and the winch console setting the reeling and releasing speed of the tow cable.

[0015] Optionally, the motion simulation subsystem includes a 6-DOF motion simulation model of the jacket, a 6-DOF motion simulation model of the towing vessel and a motion simulation model of the towing cable, and receives marine environment parameters of current speed, current direction, and wave direction, initial position of the towing vessel and initial position of the jacket, initial parameters of the towing cable diameter, dry weight, and wet weight generated by the overall management and evaluation subsystem, and operation commands of target sailing direction, sailing speed, and winch speed generated by the operation control simulation subsystem, thereby calculating 6-DOF motion data of the jacket and 6-DOF motion data of the towing vessel, and the configuration and tension of the towing cable in real time, and providing the simulation data to the visual simulation subsystem and the overall management and evaluation subsystem.

[0016] Optionally, the visual simulation subsystem includes a jacket towing operation 3D model library and visual simulation software to drive the 3D visuals with model simulation data and provide real-time rendering of jacket motion and tow vessel motion, tow cable configuration and marine environment.

[0017] The present invention further provides an intelligent jacket towing operation simulation method, the method comprising: (1) starting a distributed co-simulation subsystem, providing a guarantee for software and hardware communication of each subsystem, and monitoring the operation status of each federation member; (2) applying the overall management and evaluation subsystem to select a simulation training subject to set the sea state conditions and the initial position of the jacket, the initial position of the towing vessel, and the initial parameters of the towing cable, and sending the parameters to the motion simulation subsystem after the parameter setting is completed, and controlling the start and stop of the simulation process of the system through the network; (3) applying the operation control simulation subsystem to set the winch speed and the towing vessel control command through the operation handle and the control software according to the simulation demand, and sending it to the motion simulation subsystem; (4) applying a motion simulation subsystem including a six-degree-of-freedom motion simulation model of the jacket, a six-degree-of-freedom motion simulation model of the towing vessel and a motion simulation model of the towing cable, driving the six-degree-of-freedom motion simulation model according to control commands sent from the overall management and evaluation subsystem and the operation control simulation subsystem, and calculating the motion state of the coupling system in real time, and simultaneously transmitting the simulation data to the overall management and evaluation subsystem and the visual simulation subsystem; and (5) applying the visual simulation subsystem to perform real-time rendering and three-dimensional display for the training scene and the work equipment based on the marine environment data issued by the overall management and evaluation subsystem and the simulation data calculated by the motion simulation subsystem.

[0018] Optionally, in step (4), the equations of motion of the jacket and the towing vessel include the forces of the towing cable acting on the jacket and on the towing vessel, respectively, the end of the towing cable is regarded as being fixedly connected to the jacket, and the tip is regarded as being fixedly connected to the towing vessel, and in the analysis process, the nodal velocities and spatial positions of the end and tip of the towing cable correspond to the nodal velocities and spatial positions of the jacket and the towing vessel, respectively, and a coupling analysis is performed on the jacket, the towing vessel and the towing cable as a whole.

[0019] The six degree of freedom motion simulation model of the jacket and the six degree of freedom motion simulation model of the towing vessel both take into account the forces of the marine environment and the tension forces generated by the motion simulation model of the towing cable.

[0020] Optionally, in step (4), a motion simulation model of the tow cable is provided for model calculation with initial parameters of the tow cable set by the overall control and evaluation subsystem.

[0021] Optionally, in step (4), the six-degree-of-freedom motion simulation model of the jacket is as follows: Equation 1

[0022] JPEG0007654284000001.jpg18153.

[0023] The six-degree-of-freedom motion simulation model of the towing vessel is as follows: Equation 2

[0024] The image is JPEG0007654284000002.jpg36153.

[0025] The tow cable motion simulation model is as follows: formula 3

[0026] JPEG0007654284000003.jpg72153.

[0027] As can be seen from the above technical solutions, compared with the prior art, the present invention provides a jacket towing intelligent simulation system and modeling method. By using the HLA distributed simulation architecture, the jacket towing intelligent simulation system is divided into five subsystems, which are a distributed co-simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem, and a motion simulation subsystem. The distributed co-simulation subsystem provides a communication interface for each federation member, the general management and control subsystem issues training subjects and controls the start and stop of the simulation process, and the motion simulation subsystem receives the initial state of the jacket and the initial state of the towing vessel, the attribute parameters of the towing cable, etc. sent from the trainer through the network, and at the same time receives control commands from the winch console and the towing vessel console, and simulates the motion states of the jacket, the towing vessel, and the towing cable in real time, and sends the simulation data to the visual simulation subsystem and the general management and evaluation subsystem for visual roaming and data analysis. Based on the constructed 6-degree-of-freedom motion model, the real-time motion state of the jacket, towing vessel and towing cable can be accurately simulated considering the dynamic sea conditions during towing, and the collision interference and work risks of the jacket towing work process can be intuitively fed back in conjunction with the visual simulation subsystem. The present invention has human-computer interaction properties and can be used for joint training and skill training for marine towing operators, and can also realize the installation simulation preview and program verification for jacket towing, which can effectively ensure the safety of operators and equipment, reduce marine work risks, and improve work efficiency, with obvious economic and social benefits. [Brief description of the drawings]

[0028] In order to more clearly describe the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces drawings used in the description of the embodiments or the prior art; of course, the drawings described below are only embodiments of the present invention, and those skilled in the art can obtain other drawings based on the drawings provided without exerting creative efforts. [Figure 1] FIG. 1 is a configuration diagram of the jacket towing operation intelligent simulation system of the present invention. [Diagram 2] 1 is a flowchart of a jacket towing operation simulation model calculation according to the present invention. [Diagram 3] 1 is a flowchart of the visual simulation software design of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention, but of course, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without paying creative labor all belong to the scope of the claims of the present invention. EXAMPLES

[0030] Example 1 As shown in FIG. 1 , embodiment 1 of the present invention discloses a jacket towing operation intelligent simulation system, including a distributed collaborative simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem and a motion simulation subsystem.

[0031] The distributed co-simulation subsystem was used to provide a communication interface for each subsystem; specifically, based on the HLA distributed simulation architecture, it communicated with each federation member via an RTI interface, and monitored the operation status of each federation member through a federation operation monitoring module.

[0032] The overall control and evaluation subsystem is used to generate and issue simulation subjects, and includes a trainer console and an overall control and evaluation function, which is used to set the marine environment parameters, the initial position of the jacket and the initial position of the towing vessel, and the physical attribute parameters of the towing cable, generate and issue simulation training subjects, control the start and stop of the system simulation, and at the same time record and visually display the simulation data generated by the motion simulation subsystem.

[0033] The operation control simulation subsystem was used to generate operation commands and included a towing vessel console and a winch console, where the towing vessel console set the basic operation parameters of the towing vessel's direction of travel and speed, and the winch console set the retraction and release speed of the towing cable.

[0034] The motion simulation subsystem is used to receive parameters and operation commands of the simulation subject, perform real-time simulation of the motion status of the jacket, the towing vessel and the towing cable, and transmit them to the visual simulation subsystem and the overall management and evaluation subsystem. It includes a 6-DOF motion simulation model of the jacket, a 6-DOF motion simulation model of the towing vessel and a motion simulation model of the towing cable. It receives the marine environment parameters of current speed, current direction and wave direction, the initial position of the towing vessel and the initial position of the jacket, the initial parameters of the diameter, dry weight and wet weight of the towing cable generated by the overall management and evaluation subsystem, as well as the operation commands of the target sailing direction, sailing speed and winch speed generated by the operation control simulation subsystem, thereby real-time calculating the 6-DOF motion data of the jacket and the 6-DOF motion data of the towing vessel, the shape and tension of the towing cable, and provides the simulation data to the visual simulation subsystem and the overall management and evaluation subsystem.

[0035] The visual simulation subsystem was used to provide 3D display for real-time simulation of the jacket, tow vessel and tow cable motions, and included a jacket towing operation 3D model library and visual simulation software, driving the 3D visuals with model simulation data and providing real-time rendering of the jacket motions, tow vessel motions, tow cable configuration and marine environment.

[0036] Example 2 The second embodiment of the present invention provides an intelligent simulation method for jacket towing operation, which includes the following steps: Step (1): Start the distributed co-simulation subsystem, provide guarantees for the software and hardware communication of each subsystem, and monitor the operation status of each federation member. Step (2): Apply the general management and evaluation subsystem to select a simulation training subject, set the sea state conditions including significant wave height, current direction, current speed, and the initial parameters of the jacket initial position, the towing vessel initial position, the towing cable length, diameter, dry weight, wet weight, and stiffness, and after the parameter setting is completed, send it to the motion simulation subsystem, and control the start and stop of the system simulation process via the network. Step (3): By applying the operation control simulation subsystem, the training participants set the control commands of the towing vessel, including winch speed and rudder angle, pusher percentage, target sailing direction, and target sailing speed, through the operation handle and control software based on the simulation needs, and sent them to the motion simulation model of the towing cable and the six-degree-of-freedom motion simulation model of the towing vessel. Step (4): As shown in Figure 2, the motion simulation subsystem including the 6-DOF motion simulation model of the jacket, the 6-DOF motion simulation model of the towing vessel and the motion simulation model of the towing cable is applied, and the 6-DOF motion model is driven according to the control commands sent from the trainer console, the winch and the towing vessel console, while the motion status of the coupling system is calculated in real time, and the simulation data is transmitted to the overall management and evaluation subsystem and the visual simulation subsystem.

[0037] The six-degree-of-freedom motion model of the jacket is based on the Morrison equation, taking into account ocean current force, sea wind force, inertia force, buoyancy force, tension force, added mass, etc.; the six-degree-of-freedom motion model of the towing ship is based on the six-degree-of-freedom differential equation, taking into account the inertia matrix, damping matrix, Coriolis centripetal force matrix of the towing ship, etc.; the motion model of the towing cable is based on the lumped mass method, where spatial discretization is performed on the towing cable, and the entire towing cable is discretized into N segments through N+1 nodes. The end of the towing cable is the 0th node, which is connected to the jacket, and the tip is the N+1th node, which is connected to the towing ship, and the coordinates and tension of each node are calculated respectively.

[0038] The equations of motion for the jacket and the towing vessel include the acting forces of the towing cable on the jacket and the acting forces on the towing vessel, respectively; the end of the towing cable is considered to be fixedly connected to the jacket, and the tip is considered to be fixedly connected to the towing vessel; in the analysis process, the nodal velocity and spatial position of the end and tip of the towing cable are consistent with the nodal velocity and spatial position of the jacket and the towing vessel, respectively; and a coupling analysis was performed on the jacket, the towing vessel and the towing cable as a whole.

[0039] The six-degree-of-freedom motion simulation model of the jacket and the six-degree-of-freedom motion simulation model of the towing vessel both considered the forces of the marine environment and the tension forces generated by the motion simulation model of the towing cable.

[0040] The kinematic model of the tow cable was provided for model calculation by the trainer console by setting the basic parameters of the tow cable: diameter, dry weight, wet weight, length and axial stiffness.

[0041] In the wet towing process, the jacket hydraulic model is based on the Morrison equation, taking into account the force of the jacket in the waves, and the six-degree-of-freedom motion simulation model of the jacket is as follows: Equation 4

[0042] The image is JPEG0007654284000004.jpg20153.

[0043] Morrison's inertial force is related to acceleration and contains two parts, the first part is related to the pressure of the fluid and the second part is related to the collapse of the structure against the fluid. Equation 5

[0044] JPEG0007654284000005.jpg37153The Morrison tensile force is primarily a viscous drag, which is directly proportional to the square of the relative velocity of the fluid between the structural parts:Equation 6

[0045] JPEG0007654284000006.jpg29151Morrison's buoyancy is calculated by the mass of the displacement: formula 7

[0046] JPEG0007654284000007.jpg61108 Morrison's calculation of added mass of structural components underwater: Equation 8

[0047] JPEG0007654284000008.jpg40153

[0048] The dynamics of the towing vessel can be described by a six-degree-of-freedom differential equation, and the six-degree-of-freedom motion simulation model of the towing vessel is as follows: Equation 9

[0049] The image is JPEG0007654284000009.jpg40153.

[0050] The towing cable uses the lumped mass method as the dynamics basic model. The calculation model of the lumped mass method is based on the internal axial tension and damping force, gravity, buoyancy, and water force calculated by the Morrison equation. The calculation formula for the acting force per unit length of the towing cable is as follows: Equation 10

[0051] The image is JPEG0007654284000010.jpg52153.

[0052] The towing cable motion simulation model, i.e., the complete motion calculation equation for each node is as follows: Equation 11

[0053] The image is JPEG0007654284000011.jpg65153.

[0054] The second-order ordinary differential equation in the above formula can be replaced by a first-order ordinary differential equation and the integration can be performed using a continuous time-stepping second-order Runge-Kutta method.

[0055] Step (5): As shown in Figure 3, based on the marine environment data issued by the overall management and evaluation subsystem and the six-degree-of-freedom motion data of the jacket, the six-degree-of-freedom motion data of the towing vessel, and the towing cable node coordinates calculated by the motion simulation subsystem, a three-dimensional visual simulation was driven, and real-time rendering and three-dimensional display were performed for the training scene and the work equipment.

[0056] Example 3 The third embodiment of the present invention includes the following steps.

[0057] Stage 1: Selection of Example and Setting of Working Conditions A total of seven people, including Commander A, Trainer B, Windlass Operator C and four towing boat drivers D1-D4, participated in a joint towing operation by multiple people at one time. Training case: After the jacket was slid into the water, it was 1400m away from the installation position, two main towing anchor cables were provided by the installation boat, and four towing boats were equipped for auxiliary towing, the anchor cables provided the main pulling force by retrieving in the towing process, and the four towing cables jointly controlled the sailing direction of the jacket and avoided yaw.

[0058] [Table 1]

[0059] [Table 2]

[0060] Phase 2: Clarifying task targets and setting initial parameters Based on the jacket towing program and the selected tow cable attributes, the marine environment parameters, the physical attribute parameters of the jacket and the physical attribute parameters of the towing vessel, the initial position and heading, the connection positions of the tow cable to the jacket and the towing vessel, the physical attribute parameters of the tow cable, the number of cable nodes, etc. were set.

[0061] According to the jacket towing program, the example task was divided into five task targets. Task target 1: The training participants at each station arrived at the designated position, and the trainer successfully issued the work sea state and simulation subject information based on the work program. Task Target 2: After the jacket tow cable was successfully hoisted, the four tow vessels held it in standby and the winch operators followed orders to retrieve the cable until the trainer confirmed the tow cable was under tension. Task target 3: The drivers of each towing vessel adjusted the heading of the towing vessel according to the commander's operation command and began to tow the jacket to the target position, and jointly controlled the sailing direction of the jacket by maintaining the sailing speed during the towing process. Task Target 4: Just before the jacket reached its intended location, the winch operators followed the command of the commander to stop retrieving the cable and each tow vessel adjusted their heading to help slow the jacket. Task Target 5: After the jacket arrived at the designated location, the jacket's motion state was held stable, and each operating station was released from standby, completing the training.

[0062] Phase 3: Jacket towing practice Based on the established task targets, each training participant arrived at their assigned station and performed the simulation training.

[0063] First, the commander launched the distributed simulation software, checked the operating status of each federation member, and ensured smooth communication between each subsystem. The trainer set the initial simulation parameters through the overall management and evaluation software, issued simulation subjects to each simulation station, and monitored the stations to check whether the training participants had arrived at the designated positions and whether the visual simulation software had started normally. After everything was ready, the commander issued a simulation order and the training began.

[0064] The windlass operator retrieved the main towing cable through the winch control software according to the command of the commander, the commander observed the status of the towing cable through the three-dimensional visual screen, the trainer monitored the simulation data and confirmed that the towing cable was being pulled, then the towing boat operator began to move the boat by controlling the steering of the bow of the towing boat in turn through the steering wheel and operation software according to the command, during the process of moving the boat, the commander and the trainer observed the motion state and collision interference situation of each work equipment at their respective stations, and issued operation commands according to the navigation state of the jacket.

[0065] Just before the jacket reached the designated position, the commander issued an order for the winch operators to stop recovering the cable, for the drivers of towing boats No. 1 and No. 4, located at the top of the jacket, to slow down and stop their vessels, and for towing boats No. 2 and No. 3, located at the bottom of the jacket, to slow down and adjust their direction to assist in slowing down until the jacket reached the designated position.

[0066] In the simulation process, there were two cases for the end of the simulation. The first was when the training task was performed smoothly and the jacket was successfully towed to the target position. The second was when the training process encountered a serious collision interference between the towing vessel and the jacket or multiple cables were broken, making it impossible to continue the towing operation and deciding to end the training task on its own.

[0067] The embodiment of the present invention discloses a jacket towing intelligent simulation system and modeling method. By using the HLA distributed simulation architecture, the jacket towing intelligent simulation system is divided into five subsystems, which are a distributed co-simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem, and a motion simulation subsystem. The distributed co-simulation subsystem provides a communication interface for each federation member, the general management and control subsystem issues training subjects and controls the start and stop of the simulation process, and the motion simulation subsystem receives the initial state of the jacket and the initial state of the towing vessel, the attribute parameters of the towing cable, etc. sent from the trainer through the network, and at the same time receives control commands from the winch console and the towing vessel console, and simulates the motion states of the jacket, the towing vessel, and the towing cable in real time, and sends the simulation data to the visual simulation subsystem and the general management and evaluation subsystem for visual roaming and data analysis. Based on the constructed 6-degree-of-freedom motion model, the real-time motion state of the jacket, towing vessel and towing cable can be accurately simulated considering the dynamic sea conditions during towing, and the collision interference and work risks of the jacket towing work process can be intuitively fed back in conjunction with the visual simulation subsystem. The present invention has human-computer interaction properties and can be used for joint training and skill training for marine towing operators, and can also realize the installation simulation preview and program verification for jacket towing, which can effectively ensure the safety of operators and equipment, reduce marine work risks, and improve work efficiency, with obvious economic and social benefits.

[0068] Each embodiment in this specification will be described in a progressive manner, with emphasis on the differences between each embodiment and other embodiments, and the same or similar parts between each embodiment may be referred to each other. For the apparatus disclosed in the embodiment, the description thereof will be relatively simple since it corresponds to the method disclosed in the embodiment, and the relevant parts may be referred to the description of the method part.

[0069] The above description of the disclosed embodiments enables one skilled in the art to realize or use the present invention. A number of modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not limited to these embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed co-simulation subsystem, a general management and evaluation subsystem, an operation control simulation subsystem, a visual simulation subsystem, and a motion simulation subsystem; the distributed co-simulation subsystem is adapted to provide a communication interface to each of the subsystems; the general management and evaluation subsystem is used to generate and publish simulation courses; the operation control simulation subsystem is used to generate operation instructions; the motion simulation subsystem is used to receive the parameters of the simulation subject and the operation command, perform a real-time simulation of the motion status of the jacket, the towing vessel and the towing cable, and transmit the same to the visual simulation subsystem; the visual simulation subsystem is used to provide a three-dimensional display for a real-time simulation of the motion of the jacket, the tow vessel and the tow cable; the general management and evaluation subsystem includes a trainer console and a general management and evaluation function, and is used to set marine environment parameters, initial positions of the jacket and the towing vessel, physical attribute parameters of the towing cable, generate and issue simulation training subjects, control the start and stop of the system simulation, and at the same time record and visually display the simulation data generated by the motion simulation subsystem; The operation control simulation subsystem includes a towing vessel console and a winch console, the towing vessel console sets basic operation parameters such as the direction and speed of travel of the towing vessel, and the winch console sets the speed of retracting and releasing the towing cable; The motion simulation subsystem includes a six-degree-of-freedom motion simulation model of the jacket, a six-degree-of-freedom motion simulation model of the towing vessel, and a motion simulation model of the towing cable, and receives marine environment parameters of current speed, current direction, and wave direction, initial position of the towing vessel and initial position of the jacket, initial parameters of the diameter, dry weight, and wet weight of the towing cable generated by the overall management and evaluation subsystem, and operation commands of target sailing direction, sailing speed, and winch speed generated by the operation control simulation subsystem, thereby calculating six-degree-of-freedom motion data of the jacket and six-degree-of-freedom motion data of the towing vessel, and the shape and tension of the towing cable in real time, and providing simulation data to the visual simulation subsystem and the overall management and evaluation subsystem.

2. The jacket towing operation intelligent simulation system of claim 1, characterized in that the distributed collaborative simulation subsystem specifically communicates with each federation member through an RTI interface based on the HLA distributed simulation architecture, and monitors the operation status of each federation member through a federation operation monitoring module.

3. The intelligent simulation system for jacket towing operation as claimed in claim 1, characterized in that the visual simulation subsystem includes a jacket towing operation 3D model library and visual simulation software, drives the 3D visualization with model simulation data, and performs real-time rendering for the jacket motion state, the towing vessel motion state, the towing cable configuration, and the marine environment.

4. A jacket towing operation intelligent simulation method, comprising: (1) starting a distributed co-simulation subsystem, providing a guarantee for the software and hardware communication of each subsystem, and monitoring the operation status of each federation member; (2) applying the overall management and evaluation subsystem to select a simulation training subject to set the sea state conditions and the initial position of the jacket, the initial position of the towing vessel, and the initial parameters of the towing cable, and sending the parameters to the motion simulation subsystem after the parameters are set, and controlling the start and stop of the simulation process of the system through the network; (3) applying the operation control simulation subsystem to set the winch speed and the towing vessel control command through the operation handle and the control software according to the simulation demand, and sending it to the motion simulation subsystem; (4) applying the motion simulation subsystem including a 6-DOF motion simulation model of the jacket, a 6-DOF motion simulation model of the towing vessel and a motion simulation model of the towing cable, driving the 6-DOF motion simulation model according to control commands sent from the overall management and evaluation subsystem and the operation control simulation subsystem, and calculating the motion state of the coupling system in real time, and transmitting the simulation data to the overall management and evaluation subsystem and the visual simulation subsystem; and applying the visual simulation subsystem to provide real-time rendering and three-dimensional display of training scenes and work equipment based on the marine environment data issued by the general management and evaluation subsystem and the simulation data calculated by the motion simulation subsystem (5).

5. In step (4), the motion equations of the jacket and the towing vessel include the acting forces of the towing cable on the jacket and the acting forces of the towing cable on the towing vessel, the end of the towing cable is regarded as being fixedly connected to the jacket, and the tip of the towing cable is regarded as being fixedly connected to the towing vessel, and in the analysis process, the nodal velocities and spatial positions of the end and tip of the towing cable are respectively consistent with the nodal velocities and spatial positions of the jacket and the towing vessel, and a coupling analysis is performed on the jacket, the towing vessel and the towing cable as a whole; The intelligent simulation method for jacket towing operation according to claim 4, characterized in that the six-degree-of-freedom motion simulation model of the jacket and the six-degree-of-freedom motion simulation model of the towing vessel both take into account the acting forces of the marine environment and the tensile forces generated by the motion simulation model of the towing cable.

6. 5. The intelligent simulation method for jacket towing operation according to claim 4, wherein in step (4), the motion simulation model of the towing cable is provided for model calculation according to initial parameters of the towing cable set by the overall management and evaluation subsystem.

7. In step (4), the six-degree-of-freedom motion simulation model of the jacket is as follows: [Formula 1] and The six degree of freedom motion simulation model of the towing vessel is as follows: [Formula 2] Here, M s is the towing vessel system inertia matrix including the vessel mass matrix and the added mass matrix, and D s (Vs) is the tow vessel damping matrix, and g s (η s ) is the vector of the forces and torques due to gravity and buoyancy, and C s (V s ) is the Coriolis centripetal force matrix, and τ es is the thrust received by the towing vessel, The motion simulation model of the tow cable is as follows: [Formula 3] where m i is the mass matrix of node i, and a i is the added mass matrix of node i, T is the nodal tension, C is the nodal internal damping force, and W i is the net buoyancy per unit length, and D pi is the lateral damping force at the node, D qi is the tangential damping force at the node, The jacket towing operation intelligent simulation method according to claim 4.

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