全回转起重船起重作业系统建模与半实物仿真

为了创建逼真的全回转起重船起重作业虚拟训练环境，根据实际海上起重作业过程，综合考虑海况、动力定位、实时操纵、压载调整等多种因素对起重作业的影响，构建了多通道数据交流数学模型，并通过虚拟现实技术、通信网络技术、实时动力学解算以及半实物操纵模拟等方法的联合应用，实现了身临其境感觉的交互式半实物仿真环境．仿真实验表明：工程技术人员通过仿真演练可以对起重作业过程的关键参数进行推敲，对实际操作过程进行预演，起到辅助制定工艺过程、降低海上起重作业风险以及提高海上工程作业的可靠性的作用．

Hardware-in-the-loop simulation and modeling of the lifting operation system for revolving floating cranes

In order to found the lifelike scene effect about lifting operation of the revolving floating crane,according to actual marine lifts heavy objects process,the mathematical model of lifting operation system in the revolving floating crane was established.Many factors interfered with lifting work,such as the sea condition,dynamic positioning,real-time operation,ballasting and so on,were considered comprehensively.With the aid of some methods of virtual reality technology,correspondence networking,hardware-in-the-loop simulation,the work simulation of the revolving floating crane under real marine environment was realized.The simulation experiment indicates that the engineers can deliberate carefully the parameter essential to lifting work process through the simulation.The preview of the actual operation process can play a role in assistance of formulating technological process,reducing marine lifting work risk,enhancing the marine engineering work reliability.