Dynamic Modelling, Simulation and Visualization of Marine Crane Operations on DP Vessels

The research presented in this thesis is based on the idea that to find a better method of modelling, simulation and controlling the dynamic mechanical systems by using Lagrange method and bond graph approach. Based on the Offshore Ship Operation Model (OSOM), different relevant sub-systems of marine crane is studied and developed in 20-sim. The 3D visualization of marine crane operations on DP vessels in OSOM will be developed in GLview. In the filed of marine operations, especially for the subsea technologies for Oil and Gas industry which is highly rely on the Platform Supply Vessel (PSV) or Offshore Construction Vessel (OSV). These vessels are equipped with marine crane system or winch system that can provide heavy lifting operation for the subsea constructions. The OSOM platform emphasizes on the interconnected behavior of the vessel and the equipment on board, as well as the environmental loads, such as wave load, current load and wind load during the operations. This is because the equipment on board and the DP vessel will have significant impact on the dynamic behavior between each other. This thesis mainly focus on marine crane and its sub-systems on the DP vessel, and set a framework for modelling, simulation and analysis of the dynamics of rigid body systems through Lagrange method and bond-graph approach. Based on this framework, many sub-systems such as actuators, hydrodynamics and controllers can be interfaced. In addition, in order to build an efficient and handy marine operation simulator, the visualization of the model is very important. This thesis provides the method to achieve the requirements by using Dynamic Link Library to connect simulator 20-sim and visualization tool GLview. The .DLL file is written by C code and print the visualization code to .VTF file for 3D animation in GLview. The OSOM platform is mainly developed by \cite{OSOM} which in order to develop a high fidelity simulator of an offshore construction vessel with heavy duty crane. This thesis is based on the OSOM and the specialization project of the author himself. The OSOM is still under development and several further works is provided in the last chapter. Key Words: Crane-Vessel system, bond graph modelling, 3D visualization, crane hydraulic system, position control, system dynamics, dynamic linked library