Lifting Operation Simulation of a Dynamic-Position Crane Vessel

A time domain method, weakly coupling the block and crane vessel in time sequence, has been developed for lifting operation of the dynamic-position crane vessel. Restoring thrust is distributed by the dynamic positioning PID control system and directly acted on the crane vessel’s control equation as external force; the weak coupling simulation between the block and crane vessel is realized through the sling elastic deformation. Lifting operation simulation of a dynamic-position crane vessel in irregular waves shows that the posture of crane vessel relative to the wave direction in the lifting operation should be adjusted as soon as possible, and had better be made in ahead sea state to improve the security of the suspension stage.