Joint modeling and simulation method and system for marine engineering installation operation

Abstract

A joint modeling and simulation method and system for a marine engineering installation operation, which method and system belong to the technical field of ships and marine engineering, and particularly relate to joint modeling and simulation of marine engineering installation operations. By means of the method and system, the problems of existing modeling and simulation techniques in marine engineering equipment installation operations having relatively low simulation efficiency and being incapable of meeting the real-time requirements of engineering training exercises, and the time costs for repeat development caused by the difficulty in reusing a simulation model being relatively high are solved. The method comprises the following steps: S1, obtaining an independent equipment movement simulation model; and S2, on the basis of movement transfer simulation and load transfer simulation, acquiring real-time joint simulation data. The joint modeling and simulation method and system for a marine engineering installation operation are applicable to joint modeling and simulation of marine engineering installation operations.

Description

Joint Modeling and Simulation Methods and Systems for Marine Engineering Installation Operations Technical Field

[0001] This invention relates to the field of shipbuilding and marine engineering technology, and in particular to joint modeling and simulation of marine engineering installation operations. Background Technology

[0002] The installation of large deep-water structures (i.e., marine engineering equipment installation operations) is a crucial link in deep-sea energy development. It requires the coordinated operation of multiple pieces of equipment, involving a complex variety of surface and underwater equipment, numerous operating stations, and harsh working environments. This process is characterized by high difficulty, high technology, high investment, and high risk. By using digital modeling and simulation technology to simulate the motion response and construction process of multi-body coupled systems installed at sea, and to conduct construction plan drills and personnel training, the construction risks during the installation of large deep-water structures can be effectively reduced, thereby ensuring the safety of equipment and personnel.

[0003] However, existing modeling and simulation technologies for marine engineering equipment installation operations are typically geared towards multi-equipment collaborative operation scenarios at sea. They involve extensive derivation of multi-body system equations to perform integrated solution analysis of the required equipment. This integrated solution analysis requires a massive amount of computation and a complex calculation process, resulting in low simulation efficiency and an inability to meet the real-time requirements of engineering exercises. Furthermore, existing modeling and simulation technologies lack operability in simulation model design and functional configuration, hindering model reuse and leading to high time and cost costs associated with repeated development. Summary of the Invention

[0004] This 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 high time and cost of repeated development caused by the difficulty in reusing simulation models in existing marine engineering equipment installation operations.

[0005] The technical solution of the joint modeling and simulation method for marine engineering installation operations described in this invention is as follows: The method includes the following steps: S1. According to the installation operation simulation scenario, calculate and load the loads on each piece of equipment to obtain an independent motion simulation model of the equipment; S2. Within a given simulation time, use an iterative method to obtain real-time joint simulation data based on the independent motion simulation model of the equipment; wherein, in each iteration, the simulation step size for time advancement is set as dtSC, and the solution step size for solving each piece of equipment is set as dtIC; the simulation step size and the solution step size satisfy dtSC≥dtIC, and if the multiple relationship between the two is an integer multiple or not an integer multiple, the multiple is rounded up, and the multiple relationship between the two is used as the number of iteration steps n within a single simulation step size, n>0; each iteration includes the following steps: S2.1. Let the global simulation time of this iteration be t, and update the position of the connection node between each piece of equipment at time t through motion transfer simulation; S2.2. Use the updated connection node as the boundary condition in the load transfer simulation, and obtain the environmental load and auxiliary equipment load force and torque of each piece of equipment through load transfer simulation; S2.3. Substitute the environmental loads and auxiliary equipment loads and torques of each piece of equipment into the independent motion simulation model of the equipment. Combine this with the hydrodynamic and static forces acting on each piece of equipment to obtain the resultant force acting on each piece of equipment at time t. S2.4. Within the simulation step size dtSC, divide the resultant force acting on each piece of equipment at time t by the mass, moment of inertia, and additional mass and moment of inertia of each piece of equipment to obtain the equipment acceleration. Using the Runge-Kutta method, perform n integral calculations according to the solution step size dtIC to obtain the joint simulation real-time data of each piece of equipment at time t. The joint simulation real-time data includes the motion of each piece of equipment and the loads of auxiliary equipment. S2.5. Determine whether the iteration has ended: If the iteration has not ended, update the simulation time t = t + dtSC and continue to the next iteration; otherwise, the iteration ends, and the simulation method is completed.

[0006] Furthermore, a preferred embodiment is provided, wherein step S1 includes the following steps: S1.1, establishing a basic mathematical model for the installation simulation of each piece of equipment based on the installation operation simulation scenario:

[0007] Where i represents the equipment number, i∈[1,N], and N is a positive integer; M i Let M be the mass and moment of inertia of the i-th piece of equipment; Ai Let τ be the additional mass and additional moment of inertia of the i-th piece of equipment; i The net force acting on the i-th piece of equipment; Let v be the acceleration of the i-th piece of equipment; through integral iteration, the velocity of the i-th piece of equipment is obtained as v. i and pose x iS1.2 Calculate the net force on the i-th piece of equipment: in, The wind load on the i-th piece of equipment, The flow load on the i-th piece of equipment, S1.3. Based on the installation simulation basic mathematical model of each piece of equipment and the resultant force it experiences, obtain the independent motion simulation model of the equipment.

[0008] Furthermore, a preferred embodiment is provided. In step S1.2, if the i-th piece of equipment is a lifting rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained by the following method: Model lifting ropes and anchor cables of different materials separately, and the resultant force on each node is...

[0009] Wherein, the subscript l represents the number of the suspension rope or anchor cable, l∈[1,f], and f is the total number of suspension ropes or anchor cables; j represents the number of the concentrated mass node in the l-th suspension rope or anchor cable. If each suspension rope or anchor cable consists of m cable segments, then each suspension rope or anchor cable contains m+1 concentrated mass nodes, j∈[1,m]. The tension of the j+(1 / 2)th segment of the l-th suspension rope or anchor cable; The tension of the j-(1 / 2)th segment of the l-th suspension rope or anchor cable; For the j+(1 / 2)th segment of the lth hoisting rope or anchor cable; For the j-(1 / 2)th segment of the l-th hoisting rope or anchor cable; The bending moment force at the j-th concentrated mass node of the l-th suspension rope or anchor cable; The lateral resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; The tangential resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Other external forces acting on the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Among them, E l Let d be the stiffness of the l-th suspension rope or anchor cable. l The diameter of the l-th hoisting rope or anchor cable. Let the segment length be the j-th concentrated mass point of the l-th hoisting rope or anchor cable. and Let J be the coordinates of the (j+1)th and jth concentrated mass nodes of the l-th suspension rope or anchor cable; Among them, C intl The internal damping coefficient of the l-th suspension rope or anchor cable. For strain rate; Among them, EI l The bending stiffness of the l-th suspension rope or anchor cable; for curvature at that point The segmented stretching length for the j-th concentrated mass point of the l-th suspension rope or anchor cable.

[0010] Furthermore, a preferred embodiment is provided, wherein step 2.1 includes the following steps: S2.1.1, dividing the equipment in the installation operation simulation scenario into the main transfer body and auxiliary equipment, and determining the connection nodes between the auxiliary equipment and the main transfer body; the connection nodes are divided into nodes that move directly with the main transfer body, and nodes that move indirectly with the main transfer body but are constrained by the equipment's operating range; S2.1.2, for nodes that move directly with the main transfer body: according to Euler angles, rotation order, and external rotation method, calculating and updating their positions based on the movement of the main transfer body at time t, to obtain the position of the nodes that move directly with the main transfer body at time t; S2.1.3, for nodes that move indirectly with the main transfer body but are constrained by the equipment's operating range: calculating and updating their positions relative to the center of gravity of the main transfer body at time t using the DH parameter method, without considering the movement of the main transfer body at time t, but only considering the constraint of the equipment's operating range; based on their positions relative to the center of gravity of the main transfer body at time t, calculating and updating their positions based on the movement of the main transfer body at time t according to Euler angles, rotation order, and external rotation method, to obtain the positions of the nodes that move indirectly with the main transfer body but are constrained by the equipment's operating range at time t.

[0011] Furthermore, a preferred embodiment is provided, wherein step S2.3 includes the following steps: S2.3.1, Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer; S2.3.2, For environmental load transfer: Based on the hydrodynamic characteristics of the transfer body and the calculation of the six degrees of freedom motion of the transfer body, the environmental load forces and moments acting on the x-axis, y-axis, and z-axis of the body coordinate system at the center of gravity of the transfer body are obtained; S2.3.2, For auxiliary equipment load transfer: The updated connection nodes are used as boundary conditions; Based on the equipment independent motion simulation model, the forces acting on the connection nodes relative to the center of gravity of the transfer body, and the positions of the connection nodes relative to the center of gravity of the transfer body are obtained; The forces acting on the connection nodes relative to the center of gravity of the transfer body and the positions of the connection nodes relative to the center of gravity of the transfer body are multiplied to obtain the auxiliary equipment load forces and moments acting on the x-axis, y-axis, and z-axis of the body coordinate system at the center of gravity of the transfer body.

[0012] This invention also proposes a joint modeling and simulation system for marine engineering installation operations, the technical solution of which is as follows: 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 several simulation stations; The marine engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework; The distributed collaborative simulation core framework, as a central control node, is connected to several simulation stations via network communication, and is used to provide data communication interfaces and resource allocation scheduling according to the installation operation simulation scenario, and to control the simulation process; Each simulation station is a distributed node, used 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 hoisting ropes and anchor cables composed of concentrated mass nodes; The joint simulation model framework for equipment installation operations is used to construct independent motion simulation models of equipment according to the type of equipment in the installation operation simulation scenario, using the above-mentioned joint modeling and simulation method for marine engineering installation operations, and to perform integrated simulation through motion transmission and load transmission, and to reuse and share the independent motion simulation models of equipment to obtain real-time joint simulation data; The simulation support platform is used to connect with the simulation stations required in the installation operation simulation scenario based on the data communication interface and resource allocation and scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation in the installation operation simulation scenario.

[0013] Furthermore, in a preferred embodiment, the system further includes: a visualization simulation platform; the visualization 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 real-time joint simulation 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 screen according to the real-time joint simulation data; the two-dimensional data visualization module is used to receive real-time joint simulation 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 real-time joint simulation data as a two-dimensional data curve in the visualized two-dimensional screen.

[0014] 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 dome screen simulation station, and a crane simulation station.

[0015] Furthermore, a preferred embodiment is provided, wherein the simulation support platform includes: a construction exercise module and a personnel training module; the construction exercise module is used to connect with the simulation stations required for the construction exercise simulation scenario according to the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation under the construction exercise simulation scenario; 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, and to call the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation under the personnel training simulation scenario.

[0016] Furthermore, in a preferred embodiment, the simulation support platform further includes a data storage module; the data storage module is used to store real-time joint simulation data generated by the collaborative operation equipment configuration and motion simulation platform, based on the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform.

[0017] The present invention has the following beneficial effects: 1. The marine engineering installation operation joint modeling and simulation method of the present invention simplifies the calculation and improves the simulation efficiency by independently modeling each piece of equipment in the collaborative simulation and performing unified integrated simulation, and can meet the real-time requirements of engineering exercises.

[0018] 2. The marine engineering installation operation joint modeling and simulation system described in this 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 independent motion simulation models of equipment, effectively expands the applicability of the simulation system, and enhances the system's reusability and operability.

[0019] 3. The marine engineering installation operation joint modeling and simulation system described in this invention adopts a distributed approach to construct a collaborative simulation platform for marine engineering installation operations. The simulation stations required for different marine engineering installation operation scenarios can be organized, managed, and coordinated as independent simulation nodes (i.e., resource allocation and scheduling). That is, according to different installation operation simulation requirements, different simulation stations are selected and planned, and different equipment loads are calculated and loaded, realizing the reuse and sharing of independent motion simulation models of equipment. This effectively expands the applicability of the simulation system and enhances the system's reusability and operability.

[0020] 4. The marine engineering installation operation joint modeling and simulation system described in this invention supports independent modeling of each piece of equipment in the collaborative simulation through the collaborative operation equipment configuration and motion simulation platform, and deploys them on different computers. Through the coupling relationship between each piece of equipment (i.e., motion transmission and load transmission), integrated simulation is carried out, realizing the reuse and sharing of independent motion simulation models of equipment, and improving the system execution efficiency while ensuring simulation accuracy.

[0021] The method and system for joint modeling and simulation of marine engineering installation operations described in this invention are applicable to joint modeling and simulation of marine engineering installation operations. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 is a flowchart of a joint modeling and simulation method for marine engineering installation operations in one embodiment of the present invention; Figure 2 is a structural schematic diagram of a joint modeling and simulation system for marine engineering installation operations in one embodiment of the present invention; Figure 3 is a flowchart of a method for constructing an independent motion simulation model of equipment in a joint modeling and simulation system for marine engineering installation operations in one embodiment of the present invention; Figure 4 is a schematic diagram of three-dimensional visualization in a simulation scenario of a double-ship joint lifting installation of jacket foundation and skirt piles in one embodiment of the present invention; Figure 5 is a schematic diagram of two-dimensional data curves of the load of auxiliary equipment in a simulation scenario of a double-ship joint lifting installation of jacket foundation and skirt piles in one embodiment of the present invention; Figure 6 is a schematic diagram of two-dimensional data curves of the motion of equipment in a simulation scenario of a double-ship joint lifting installation of jacket foundation and skirt piles in one embodiment of the present invention. Detailed Implementation

[0024] To make the technical solutions and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail and completely below with reference to the accompanying drawings. The various embodiments described below are only some preferred embodiments of the present invention, and not all of them; the various embodiments described below are intended to explain the present invention and should not be construed as limiting the present invention; reasonable combinations of the technical features defined in the various embodiments of the present invention, as well as all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort, are all within the scope of protection of the present invention.

[0025] Implementation Method 1: This implementation method is illustrated in Figures 1 to 6. This implementation method provides a joint modeling and simulation method for marine engineering installation operations. The specific implementation content is as follows: The method includes the following steps: S1. According to the installation operation simulation scenario, calculate and load the loads on each piece of equipment to obtain an independent motion simulation model of the equipment; S2. Within a given simulation time, adopt an iterative approach to obtain real-time joint simulation data based on the independent motion simulation model of the equipment; wherein, in each iteration, the simulation step size for time advancement is set as dtSC, and the solution step size for solving each piece of equipment is set as dtIC; the simulation step size and the solution step size satisfy dtSC≥dtIC, and if the multiple relationship between the two is an integer multiple relationship or not an integer multiple relationship, the multiple is rounded up, and the multiple relationship between the two is used as the iteration step number n within a single simulation step size, n>0; each iteration includes the following steps: S2.1: Let the global simulation time of this iteration be t, and update the position of the connection node between each piece of equipment at time t through motion transfer simulation; S2.2. Use the updated connection nodes as boundary conditions in the load transfer simulation, and obtain the environmental load and auxiliary equipment load forces and moments for each piece of equipment through load transfer simulation; S2.3. Substitute the environmental load and auxiliary equipment load forces and moments for each piece of equipment into the independent motion simulation model of the equipment, and combine the hydrodynamic and static forces acting on each piece of equipment to obtain the resultant force acting on each piece of equipment at time t; S2.4. Within the simulation step size dtSC, divide the resultant force acting on each piece of equipment at time t by the mass, moment of inertia, and additional mass and additional moment of inertia of each piece of equipment to obtain the equipment acceleration; Perform n integral calculations according to the solution step size dtIC using the Runge-Kutta method to obtain the joint simulation real-time data of each piece of equipment at time t; the joint simulation real-time data includes the motion of each piece of equipment and the loads of auxiliary equipment; S2.5. Determine whether the iteration has ended: If the iteration has not ended, update the simulation time t = t + dtSC and continue to the next iteration; otherwise, the iteration ends, and the simulation method is completed.

[0026] In this embodiment, the end of the iteration can be determined by an external signal. For example, in practical applications, the simulation method is implemented using a simulation system, which typically includes a coach's simulated position. This coach's simulated position is used to control the end of the simulation, thus ending the iteration in the simulation.

[0027] Implementation Method Two: This implementation method is further defined in conjunction with Figures 1 to 6. It is a further refinement of the marine engineering installation operation joint modeling and simulation method described in Implementation Method One. The specific implementation details are as follows: Step S1 includes the following steps: S1.1, Based on the installation operation simulation scenario, establish a basic mathematical model for the installation simulation of each piece of equipment:

[0028] Where i represents the equipment number, i∈[1,N], and N is a positive integer; M i Let M be the mass and moment of inertia of the i-th piece of equipment; Ai Let τ be the additional mass and additional moment of inertia of the i-th piece of equipment; i The net force acting on the i-th piece of equipment; Let v be the acceleration of the i-th piece of equipment; through integral iteration, the velocity of the i-th piece of equipment is obtained as v. i and pose x i S1.2 Calculate the net force on the i-th piece of equipment: in, The wind load on the i-th piece of equipment, The flow load on the i-th piece of equipment, S1.3. Based on the installation simulation basic mathematical model of each piece of equipment and the resultant force it experiences, obtain the independent motion simulation model of the equipment.

[0029] In this embodiment, the resultant force on the i-th piece of equipment includes three forces and torques acting on the i-th piece of equipment in the x, y, and z directions of its body coordinate system.

[0030] In this embodiment, the hydrodynamic and static forces on the i-th piece of equipment are differentiated according to the type of equipment (including floating structures and rod structures), and their calculation methods are different: For example, in the simulation scenario of the double-boat joint lifting and installation of jacket foundation skirt piles, it is necessary to calculate the combined force of the installation boat, the dynamic positioning boat, the steel pile, the hoisting rope and the anchor cable.

[0031] The hydrodynamic and static forces of the installation vessel (which is a floating structure) are expressed as follows: in, For damping force; Centripetal force; It is a fluid memory effect force; The restoring force of still water; D(v i ) is the damping matrix; C(v i () represents the sum of the centripetal force and Coriolis force matrices; t is the simulation time, K i (t-τ) is the time delay function. Unit pulse input; G i Here is the stiffness matrix.

[0032] The hydrodynamic and static representations of steel piles (belonging to the category of rod structures) are as follows: in, For inertial force, For drag force, For buoyancy and It is gravity.

[0033] Implementation Method 3: This implementation method is further defined in conjunction with Figures 1 to 6. It is a further limitation of the marine engineering installation operation joint modeling and simulation method described in Implementation Method 2. The specific implementation details are as follows: In step S1.2, if the i-th piece of equipment is a hoisting rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained using the following method: Model hoisting ropes and anchor cables of different materials separately, and the resultant force on each node is...

[0034] Wherein, the subscript l represents the number of the suspension rope or anchor cable, l∈[1,f], and f is the total number of suspension ropes or anchor cables; j represents the number of the concentrated mass node in the l-th suspension rope or anchor cable. If each suspension rope or anchor cable consists of m segments of cable, then each suspension rope or anchor cable contains m+1 concentrated mass nodes, j∈[1,m]. The tension of the j+(1 / 2)th segment of the l-th suspension rope or anchor cable; The tension of the j-(1 / 2)th segment of the l-th suspension rope or anchor cable; For the j+(1 / 2)th segment of the lth hoisting rope or anchor cable; For the j-(1 / 2)th segment of the l-th hoisting rope or anchor cable; The bending moment force at the j-th concentrated mass node of the l-th suspension rope or anchor cable; The lateral resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; The tangential resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Other external forces acting on the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Among them, E l Let d be the stiffness of the l-th suspension rope or anchor cable. l The diameter of the l-th hoisting rope or anchor cable. Let the segment length be the j-th concentrated mass point of the l-th hoisting rope or anchor cable. and Let J be the coordinates of the (j+1)th and jth concentrated mass nodes of the l-th suspension rope or anchor cable; Among them, C intl The internal damping coefficient of the l-th suspension rope or anchor cable. For strain rate; Among them, EI l The bending stiffness of the l-th suspension rope or anchor cable; for curvature at that point The segmented stretching length for the j-th concentrated mass point of the l-th suspension rope or anchor cable.

[0035] In this embodiment, the calculation method for the resultant force on equipment such as slings and anchor cables composed of concentrated mass nodes is different from that of other equipment, and the above-mentioned special treatment method is required.

[0036] Furthermore, a specific implementation method is provided, taking the simulation scenario of the installation of jacket skirt piles by two boats as an example to illustrate the method of obtaining the simulation model of independent motion of equipment, as follows: The simulation process is carried out by one anchored positioning installation vessel (equipped with 8 anchor cables), one dynamic positioning vessel, one steel pile, and two hoisting ropes working together.

[0037] Based on the installation operation simulation scenario, the loads on each piece of equipment are calculated and applied to obtain an independent motion simulation model of the equipment. The simulation scenario for the double-boat joint lifting installation of the jacket foundation and skirt piles requires the establishment of independent motion simulation models for the hoisting ropes and anchor cables, the installation vessel, the dynamic positioning vessel, and the steel piles. First, based on the simulation scenario for the double-boat joint lifting installation of the jacket foundation and skirt piles, a basic mathematical model for the installation simulation of each piece of equipment is established. Through integral iteration, the velocity of the i-th piece of equipment is obtained as v. i and pose is x i Then, calculate the resultant force τ acting on each piece of equipment. i For installation vessels, dynamically positioned vessels, and steel piles, the resultant force τ they experience is... i for:

[0038] in: Environmental forces are considered in the motion calculations for both the ship and the steel piles. The force exerted by the cable; when the i-th piece of equipment does not have a connecting cable, It is 0.

[0039] For other external forces such as the propulsion system of the dynamically positioned vessel; if the i-th piece of equipment is completely on the water, then the hydrodynamic force, wave load, and flow load are all 0.

[0040] For lifting ropes and anchor cables composed of lumped mass nodes, a special case is treated, and the resultant force is obtained using the following method: Assume the total number of lifting ropes or anchor cables is 10, i.e., f = 10; Model lifting ropes and anchor cables of different materials separately, and the resultant force on each lumped mass node is...

[0041] in, The anchor weight and other external forces acting on the j-th concentrated mass node of the l-th suspending rope or anchor cable.

[0042] Finally, based on the above-mentioned basic mathematical model for installation simulation and the calculation and loading methods of the resultant force on each piece of equipment, an independent motion simulation model for the equipment is formed, wherein: the independent motion simulation model for the ships (installation ship, dynamic positioning ship) is as follows:

[0043] The independent motion simulation model of the steel pile is as follows:

[0044] The simulation model of the independent motion of the suspension rope and anchor cable, which consist of lumped mass nodes, is as follows:

[0045] Implementation Method 4: This implementation method is further defined in conjunction with Figures 1 to 6. It is a further refinement of the marine engineering installation operation joint modeling and simulation method described in Implementation Method 1. The specific implementation details are as follows: Step 2.1 includes the following steps: S2.1.1: Divide the equipment in the installation operation simulation scenario into the main body and auxiliary equipment, and determine the connection nodes between the auxiliary equipment and the main body. The connection nodes are divided into nodes that move directly with the main body and nodes that move indirectly with the main body but are constrained by the equipment's manipulation range. S2.1.2: For nodes that move directly with the main body: Calculate and update their positions based on the movement of the main body at time t, according to Euler angles, rotation order, and external rotation method, to obtain the position of the nodes that move directly with the main body at time t. S2.1.3: For nodes that move indirectly with the main body but are constrained by the equipment's manipulation range: Calculate and update their positions relative to the center of gravity of the main body at time t using the DH parameter method, without considering the movement of the main body at time t, but only considering the constraints of the equipment's manipulation range. Based on its position relative to the center of gravity of the transmission body at time t, and according to Euler angles, rotation order, and external rotation method, the movement of the transmission body at time t is used to calculate and update its position, thereby obtaining the position of the node that indirectly moves with the transmission body at time t, which is constrained by the equipment's operating range.

[0046] Furthermore, a specific implementation method is provided, using a simulation scenario of a double-ship joint lifting installation of jacket foundation skirt piles as an example to illustrate the motion transfer simulation, as follows: Through motion transfer simulation, the positions of the crane apex, anchor cable guide hole, and hoisting rope connection point (i.e., connection node) that move with the hull and steel pile are updated: First, the installation ship, dynamic positioning ship, and steel pile are considered as the main transfer body; the hoisting rope and anchor cable are considered as auxiliary equipment; the connection nodes are confirmed as follows: The 0th node of hoisting ropes numbered 1 and 2 is connected to the steel pile, and the mth node is connected to the crane on the hull; the mth node of anchor cables numbered 3 to 10 is directly connected to the hull, i.e., connection node r. l=1j＝0 r l＝2j＝0 rl＝1j＝m r l＝2j＝m r l＝3，10j＝m As the transmitting body moves, r l＝1j＝0 r l＝2j＝0 r l＝3，10j＝m For nodes that move directly with the transmission body, r l＝1j＝0 r l＝2j＝0 For nodes that indirectly move with the transmission body, considering the crane's operating range constraints: Then, for node r l＝1j＝0 r l＝2j＝0 r l＝3,10j＝m The position of the node at time t is calculated and updated according to Euler angles, rotation order x→y→z, and external rotation method; finally, for r l＝1j＝0 r l＝2j＝0 First, using the DH parameter method, 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 motion of the installation vessel and only considering the movement of the lifting rope with the crane joint; then, calculate and update node r according to Euler angles, the rotation order x→y→z, and the external rotation method. l＝1j＝0 r l＝2j＝0 The position at time t.

[0047] Implementation Method 5: This implementation method is further defined in conjunction with Figures 1 to 6. It is a further refinement of the marine engineering installation operation joint modeling and simulation method described in Implementation Method 1. The specific implementation details are as follows: Step S2.3 includes the following steps: S2.3.1: Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer; S2.3.2: For environmental load transfer: Based on the hydrodynamic characteristics of the transfer body and the calculation of the six degrees of freedom motion of the transfer body, the environmental load forces and moments acting on the x-axis, y-axis, and z-axis of the body coordinate system at the center of gravity of the transfer body are obtained; S2.3.2: For auxiliary equipment load transfer: The updated connection nodes are used as boundary conditions; Based on the equipment independent motion simulation model, the force of the connection node relative to the center of gravity of the transfer body, and the position of the connection node relative to the center of gravity of the transfer body are obtained; The force of the connection node relative to the center of gravity of the transfer body and the position of the connection node relative to the center of gravity of the transfer body are multiplied to obtain the auxiliary equipment load forces and moments acting on the x-axis, y-axis, and z-axis of the body coordinate system at the center of gravity of the transfer body.

[0048] Furthermore, a specific implementation method is provided, taking the simulation scenario of the double-ship joint lifting installation of jacket foundation skirt piles as an example to illustrate the load transfer simulation, as follows: The load transfer simulation is divided into environmental load transfer and load transfer of auxiliary equipment such as anchor cables and hoisting cables; Through motion transfer simulation, the positions of the crane apex, anchor cable guide hole, and hoisting rope connection point that move with the hull and steel piles are updated; The updated connection nodes (positions) are used as boundary conditions for calculating the loads of the hoisting ropes and anchor cables (i.e., the loads of auxiliary equipment); Specifically: First, r l＝1j＝0 r l＝2j＝0 r l＝1j＝m r l＝2j＝m r l＝3,10j＝m As boundary conditions, they are used to simulate the data of the suspension rope and anchor cable within the step length. and load data T lj+(1 / 2) C lj+(1 / 2) B lj The calculation yields the cable force τ. cl,j For load transfer, the following steps are performed: First, for environmental load transfer: Based on the hydrodynamic characteristics of the transfer body and its six-degree-of-freedom motion, the environmental load forces and moments acting on the center of gravity of the transfer body along the x, y, and z axes of the body coordinate system are calculated. Then, for the load transfer of auxiliary equipment, i.e., the load transfer process of anchor cables and hoisting cables: Based on the simulation model of the independent motion of flexible cables composed of concentrated mass nodes, the force τ acting on the center of gravity of the first hoisting cable relative to the steel pile at the 0th concentrated mass node is calculated. cl＝1；j＝0 And the position of the suspension rope connection relative to the center of gravity of the steel pile. τ cl＝1；j＝0 and Multiplying and combining these forces yields the forces and moments of the auxiliary equipment loads acting on the center of gravity of the steel pile along the x, y, and z axes of the body coordinate system. The load transfer processes for other auxiliary equipment, such as the load transfer between the 0th concentrated mass node of the 2nd lifting rope and the steel pile, the load transfer between the mth concentrated mass node of the 1st or 2nd lifting rope and the ship, and the load transfer between the mth concentrated mass node of the 3rd to 10th anchor cables and the ship, are the same as above. Finally, the forces and moments of the environmental loads and the loads of the anchor cables and lifting ropes are substituted into the simulation model of the independent motion of the main equipment within the simulation step, and summed with the hydrodynamic and static forces acting on the equipment itself to form the resultant force τ acting on the equipment. i .

[0049] Implementation Method Six: This implementation method is illustrated in Figures 1 to 6. This implementation method provides a joint modeling and simulation system for marine engineering installation operations. The specific implementation details are as follows: 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 several simulation stations. The marine engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework. This distributed collaborative simulation core framework acts as a central control node, connected to several simulation stations via network communication. It provides data communication interfaces and resource allocation scheduling based on the installation operation simulation scenario, and controls the simulation process. Each simulation station serves as a distributed node, providing semi-physical simulation equipment. The collaborative operation equipment configuration and motion simulation platform provides a joint simulation model framework for equipment installation operations applicable to floating structures, rod structures, and hoisting ropes and anchor cables composed of concentrated mass nodes. The joint simulation model framework for equipment installation operations, according to the type of equipment in the installation operation simulation scenario, uses the aforementioned marine engineering installation operation joint modeling and simulation method to construct independent motion simulation models of the equipment. It performs integrated simulation through motion transfer and load transfer, and reuses and shares the independent motion simulation models of the equipment to obtain real-time joint simulation data. The simulation support platform is used to connect with the simulation stations required in the installation operation simulation scenario based on the data communication interface and resource allocation and scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation in the installation operation simulation scenario.

[0050] In this embodiment, the independent motion simulation model of the equipment is a mathematical calculation model.

[0051] In this embodiment, the calculated and applied loads include hydrodynamic and static forces on the equipment, environmental forces, cable forces, and other external forces.

[0052] In this embodiment, the aforementioned simulation stations are the simulation operation stations for various simulated objects included in the installation operation simulation scenario. A simulation operation station typically refers to a dedicated work position or station set up for an operator or user in a simulated or modeled environment. The purpose of this station design is to allow operators to perform various operations, tests, or training in a near-realistic yet relatively safe environment to assess their skills, reaction time, or decision-making abilities. Simulation operation stations are usually equipped with the necessary hardware and software to simulate various conditions and situations in actual working environments. For example, in the field of marine engineering, simulation operation stations simulate the ship's bridge, including propellers, steering gear, anchor winch control consoles, and other navigation-related equipment, so that crew members can conduct navigation training in a simulated environment.

[0053] In this embodiment, the semi-physical simulation equipment, also known as physical-mathematical simulation or semi-physical simulation equipment, is a real-time system simulation method. In this method, a part of the simulated system is introduced into the simulation loop as a physical object (or physical model), while the remaining part of the simulated system is described by a mathematical model and transformed into a simulation calculation model (i.e., an independent motion simulation model of the equipment). Real-time mathematical simulation and physical simulation are combined using a physical effect model. Semi-physical simulation equipment typically consists of a simulation computer that meets real-time requirements, a motion simulator, a target simulator, a control console, and some physical components. It has a high degree of realism and is therefore often used to verify the correctness and feasibility of control system schemes, simulate fault modes, and conduct closed-loop dynamic acceptance tests on control systems at various development stages.

[0054] Implementation Method Seven: This implementation method is described in conjunction with Figures 1 to 6. This implementation method further defines the marine engineering installation operation joint modeling and simulation system described in Implementation Method Six. The specific implementation content is as follows: The system further includes: a visualization simulation platform; The visualization 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 real-time joint simulation 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 screen according to the real-time joint simulation data; The two-dimensional data visualization module is used to receive real-time joint simulation 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 real-time joint simulation data as a two-dimensional data curve in the visualized two-dimensional screen.

[0055] In this embodiment, the visualized 3D screen is constructed by the 3D model visualization module. The 3D model in the visualized 3D screen is a 3D model of the equipment used for simulation, built by the 3D model visualization module using modeling software.

[0056] In this embodiment, the visualized two-dimensional screen is constructed by a two-dimensional data visualization module.

[0057] Implementation Method 8: This implementation method is described in conjunction with Figures 1 to 6. This implementation method further defines the marine engineering installation operation joint modeling and simulation system described in Implementation Method 6. The specific implementation content is as follows: The plurality of simulation stations include: floating equipment installation simulation station, installation vessel simulation station, jacket installation simulation station, underwater robot simulation station, dome screen simulation station, and crane simulation station.

[0058] In this embodiment, the plurality of simulated positions also includes simulated coach positions.

[0059] Implementation Method Nine: This implementation method is further defined in conjunction with Figures 1 to 6. It is a further limitation of the marine engineering installation operation joint modeling and simulation system described in Implementation Method Six. The specific implementation details are as follows: The simulation support platform includes a construction exercise module and a personnel training module. The construction exercise module is used to connect with the simulation stations required for the construction exercise simulation scenario based on the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation under the construction exercise simulation scenario. The personnel training module is used to connect with the simulation stations required for the personnel training simulation scenario based on the data communication interface and resource allocation scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation under the personnel training simulation scenario.

[0060] Implementation Method 10: This implementation method is described in conjunction with Figures 1 to 6. This implementation method further defines the marine engineering installation operation joint modeling and simulation system described in Implementation Method 6. The specific implementation content is as follows: The simulation support platform further includes: a data storage module; The data storage module is used to store 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.

[0061] Furthermore, a preferred embodiment is provided, in which the simulation support platform further includes a scheme optimization module, a decision support module, and a playback function module: The scheme optimization module is used to optimize the construction scheme of the installation operation simulation scenario based on the joint simulation real-time data stored in the data storage module; The decision support module is used to provide decision support for construction personnel based on the joint simulation real-time data stored in the data storage module and the three-dimensional scene provided by the visualization simulation platform; The playback function module is used to provide three-dimensional scene and two-dimensional data playback functions using the visualization simulation platform based on the joint simulation real-time data stored in the data storage module.

[0062] Furthermore, a specific implementation method is provided, taking the simulation scenario of the installation of jacket foundation skirt piles by two ships as an example to illustrate the use of the joint modeling and simulation system for marine engineering installation operations, as follows: First, a distributed method 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).

[0063] Then, based on the simulation scenario of the dual-ship joint lifting installation of the jacket foundation and skirt piles, simulation nodes (i.e., resource allocation and scheduling) are planned, including: simulation positions for jacket foundation and skirt pile installation, where the motion response of the steel piles and hoisting ropes is calculated; simulation positions for the installation vessel, where the motion response of the anchored and positioned installation vessel and anchor cable is calculated; simulation positions for the dynamically positioned vessel, where the motion response of the dynamically positioned vessel is calculated; simulation positions for the crane, where the cranes of the installation vessel and the dynamically positioned vessel are operated; simulation positions for the instructor, where the course is released and data is recorded and analyzed; and simulation positions for the dome screen, where a three-dimensional visual display is provided.

[0064] A collaborative simulation platform for marine engineering installation operations assigns a data communication interface to each simulation node.

[0065] Next, following the simulation scenario of the joint lifting and installation of the jacket foundation skirt piles by two vessels, the steel piles, lifting ropes, installation vessel, anchor cable, and dynamic positioning vessel were used as equipment in the joint simulation. In the collaborative operation equipment configuration and motion simulation platform, the loads on each joint simulation were calculated and loaded according to the simulation scenario of the joint lifting and installation of the jacket foundation skirt piles by two vessels, forming an independent motion simulation model of the equipment.

[0066] Then, the simulation method described above is used to obtain the equipment motion and auxiliary equipment load at time t.

[0067] Then, based on the marine engineering installation operation collaborative simulation platform and its allocated data communication interface, the equipment motion and auxiliary equipment load obtained at time t are simultaneously provided to the visualization simulation platform and simulation support platform for two-dimensional data display, three-dimensional model driving, and simulation data analysis.

[0068] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, reasonable combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within 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 includes the following steps: S1. According to the installation operation simulation scenario, calculate and load the load on each piece of equipment to obtain the independent motion simulation model of the equipment. S2. Within a given simulation time, using an iterative approach, real-time joint simulation data is obtained based on the independent motion simulation model of the equipment. In each iteration, the simulation step size for time progression is set as dtSC, and the solution step size for each piece of equipment is set as dtIC. The simulation step size and the solution step size satisfy dsSC≥dtIC, and if their multiple relationship is an integer multiple, or if they are not integer multiples, the multiple is rounded up, and the multiple relationship is used as the iteration step number n within a single simulation step size, where n>0. Each iteration includes the following steps: S2.

1. Let the global simulation time of this iteration be t. Through motion transmission simulation, update the position of the connection nodes between various equipment at time t. S2.

2. Use the updated connection nodes as boundary conditions in the load transfer simulation, and obtain the environmental load and auxiliary equipment load force and torque for each piece of equipment through load transfer simulation. S2.3 Substitute the environmental load and auxiliary equipment load forces and moments of each piece of equipment into the independent motion simulation model of the equipment, and combine the hydrodynamic and static forces on each piece of equipment to obtain the resultant force on each piece of equipment at time t. S2.4 Within the simulation step size dtSC, the acceleration of each piece of equipment is obtained by dividing the resultant force on each piece of equipment at time t by the mass, moment of inertia, additional mass, and additional moment of inertia of each piece of equipment. Using the Runge-Kutta method, n integral calculations are performed according to the solution step size dtIC to obtain the joint simulation real-time data of each piece of equipment at time t; the joint simulation real-time data includes the motion of each piece of equipment and the load of auxiliary equipment. S2.5 Determine if the iteration has ended: If the iteration does not end, update the simulation time t = t + dtSC and continue to the next iteration; Otherwise, the iteration ends, and the simulation method is complete.

2. The joint modeling and simulation method for marine engineering installation operations according to claim 1, characterized in that, Step S1 includes the following steps: S1.

1. Based on the installation operation simulation scenario, establish the basic mathematical model for the installation simulation of each piece of equipment: Where i represents the equipment number, i∈[1,N], and N is a positive integer; M i Let M be the mass and moment of inertia of the i-th piece of equipment; Ai Let τ be the additional mass and additional moment of inertia of the i-th piece of equipment; i The net force acting on the i-th piece of equipment; Let be the acceleration of the i-th piece of equipment. Through integral iteration, the velocity of the i-th piece of equipment is obtained as v. i and pose x i ; S1.2 Calculate the net force on the i-th piece of equipment: in, The wind load on the i-th piece of equipment, The flow load on the i-th piece of equipment, The wave load experienced by the i-th piece of equipment; S1.

3. Based on the installation simulation basic mathematical model of each piece of equipment and the resultant force it is subjected to, obtain the independent motion simulation model of the equipment.

3. The joint modeling and simulation method for marine engineering installation operations according to claim 2, characterized in that, In step S1.2, if the i-th piece of equipment is a lifting rope and anchor cable composed of concentrated mass nodes, the resultant force on it is obtained by the following method: Model the different materials of the suspension ropes and anchor cables separately, and the resultant force on each node is: Wherein, the subscript l represents the number of the suspension rope or anchor cable, l∈[l,f], and f is the total number of suspension ropes or anchor cables; j represents the number of the concentrated mass node in the l-th suspension rope or anchor cable. If each suspension rope or anchor cable consists of m cable segments, then each suspension rope or anchor cable contains m+1 concentrated mass nodes, j∈[1,m]. The tension of the j+(1 / 2)th segment of the l-th suspension rope or anchor cable; The tension of the j-(1 / 2)th segment of the l-th suspension rope or anchor cable; For the j+(1 / 2)th segment of the lth hoisting rope or anchor cable; For the j-(1 / 2)th segment of the l-th hoisting rope or anchor cable; The bending moment force at the j-th concentrated mass node of the l-th suspension rope or anchor cable; The lateral resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; The tangential resistance at the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Other external forces acting on the j-th concentrated mass node of the l-th hoisting rope or anchor cable; Among them, E l Let d be the stiffness of the l-th suspension rope or anchor cable. l The diameter of the l-th hoisting rope or anchor cable. Let the segment length be the j-th concentrated mass point of the l-th hoisting rope or anchor cable. and Let J be the coordinates of the (j+1)th and jth concentrated mass nodes of the l-th suspension rope or anchor cable; Among them, C intl The internal damping coefficient of the l-th suspension rope or anchor cable. For strain rate; Among them, EI l The bending stiffness of the l-th suspension rope or anchor cable; for curvature at that point The segmented stretching length for the j-th concentrated mass point of the l-th suspension rope or anchor cable.

4. The joint modeling and simulation method for marine engineering installation operations according to claim 1, characterized in that, Step 2.1 includes the following steps: S2.1.1 Divide the equipment in the installation operation simulation scenario into the main transfer body and auxiliary equipment, and determine the connection nodes between the auxiliary equipment and the main transfer body; the connection nodes are divided into nodes that move directly with the main transfer body, and nodes that move indirectly with the main transfer body but are constrained by the equipment's operating range. S2.1.2 For nodes that move directly with the transmission body: Based on Euler angles, rotation order, and external rotation method, the position of the transmission body at time t is calculated and updated to obtain the position of the node that moves directly with the transmission body at time t. S2.1.3 For nodes that indirectly move with the transmission body and are constrained by the equipment's operating range: The DH parameter method is used to calculate and update the position of the equipment relative to the center of gravity of the transmission body at time t, without considering the motion of the transmission body at time t, and only considering the constraints of the equipment's operating range. Based on its position relative to the center of gravity of the transmission body at time t, and according to Euler angles, rotation order, and external rotation method, the movement of the transmission body at time t is used to calculate and update its position, thereby obtaining the position of the node that indirectly moves with the transmission body at time t, which is constrained by the equipment's operating range.

5. The joint modeling and simulation method for marine engineering installation operations according to claim 1, characterized in that, Step S2.3 includes the following steps: S2.3.1 Load transfer simulation is divided into environmental load transfer and auxiliary equipment load transfer; S2.3.2 Regarding environmental load transfer: Based on the hydrodynamic characteristics of the transmission body and the calculation of its six degrees of freedom motion, the environmental load forces and moments acting on the x-axis, y-axis and z-axis of the body coordinate system at the center of gravity of the transmission body are obtained. S2.3.2 Regarding load transfer for auxiliary equipment: Use the updated connection nodes as boundary conditions; Based on the independent motion simulation model of the equipment, the force exerted by the connecting node relative to the center of gravity of the transmission body, and the position of the connecting node relative to the center of gravity of the transmission body are obtained. Multiply the force exerted by the connecting node relative to the center of gravity of the transmission body by the position of the connecting node relative to the center of gravity of the transmission body to obtain the load force and torque of the auxiliary equipment acting on the x-axis, y-axis and z-axis of the body coordinate system at the center of gravity of the transmission body.

6. A joint modeling and simulation system for marine engineering installation operations, characterized in that, 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 several simulation stations; The marine engineering installation operation collaborative simulation platform includes a distributed collaborative simulation core framework. The distributed collaborative simulation core framework acts as a central control node, which is connected to several simulation stations through network communication. It is used to provide data communication interfaces and resource allocation and scheduling according to the installation operation simulation scenario, and to control the simulation process. Each simulation station acts as a distributed node, providing 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 hoisting ropes and anchor cables composed of concentrated mass nodes. The equipment installation operation joint simulation model framework is used to construct an independent motion simulation model of equipment 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 5, and to perform integrated simulation through motion transmission and load transmission, as well as to reuse and share the independent motion simulation model of equipment to obtain real-time joint simulation data. The simulation support platform is used to connect with the simulation stations required in the installation operation simulation scenario based on the data communication interface and resource allocation and scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation in the installation operation simulation scenario.

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

8. The marine engineering installation operation joint modeling and simulation system according to claim 6, characterized in that, The aforementioned simulation stations include: floating equipment installation simulation station, installation vessel simulation station, jacket installation simulation station, underwater robot simulation station, dome screen simulation station, and crane simulation station.

9. The marine engineering installation operation joint modeling and simulation system according to claim 6, characterized in that, The simulation support platform includes: a construction drill module and a personnel training module; The construction exercise module is used to connect with the simulation station required by the construction exercise simulation scenario based on the data communication interface and resource allocation and 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 exercise simulation scenario. The personnel training module is used to connect with the simulation stations required for the personnel training simulation scenario based on the data communication interface and resource allocation and scheduling provided by the marine engineering installation operation collaborative simulation platform, and to call up the required semi-physical simulation equipment and equipment independent motion simulation models to complete the simulation under the personnel training simulation scenario.

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

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