A Generic Modelling Approach for Heavy Lifting Marine Operation

Abstract

This thesis project introduced a generic modelling approach for heavy lifting marine operation based on 20-sim simulation and Matlab control. The model is a multi-body dynamic system which can be divided into vessel, crane, cable, load, and control system. Physical entities are modelled either in bond graph or directly using 3D Mechanics toolbox and connected by interactive power port. All control scheme is modelled as signal flow separated from physical entities. The vessel is modelled as 6-DOF bond graph using parameters from SHIPX data, then connected to the crane model inside 3D Mechanics unit. Crane model is controlled by outside manual/auto control scheme. Cable and load are modelled inside 3D Mechanics with hydrodynamic behaviour represented by actuators. The performance of each system is evaluated respectively by regulations and analysis. The simulation examples of different combinations of sub-systems are given at the end. The project is aiming at developing a generic modelling method serves as a multi-user training and design platform. Standardization and potential for upgrading are to be expected in the future.