Sub-sea installation operations require a high level of accuracy and control in order to avoid misalignment and possible collisions between modules on the sea bed. To reduce costs, smaller and lighter construction vessels are now performing these operations. The most critical parts of the operation are lift-off from the deck, passing through the splash zone, and landing sensitive equipment on the sea bed. The hazards are: high dynamic loads, resonance effects, and slack line snap. Therefore, in this study, modeling and simulation are applied to optimize design parameters and develop operational procedures for each operation to reduce risk of failure. Further, the same models can be used in operator simulator training.
Modeling and simulation of interactive multi body systems is a rather complex task, involving the vessel as a moving platform, lifting equipment such as cranes and winches, guiding devices, lifting cables and payload behavior in air, all while partly to fully submerged. It is a multi-physics problem involving hydrodynamics, mechanics, hydraulics, electronics, and control systems. This paper describes an approach to link the different models to simulate the operations including interactions between the sub-systems. The paper focuses on the modeling approach used to connect the various dynamic systems into the complete operating system. The work is in its initial phase, and some of the sub-systems models are not complete. The models are described in this paper and will be included in future work. Some initial operational examples are included, to show how the models work together.
