关键词: 锚操作模拟器, 锚泊系统, 集中质量法, 动力学模型

Abstract: Dynamics modeling and simulation of the mooring system are the key technologies in Anchor Handling Simulator (AHS), the model's quality and the visualization have great impact on the real-time, fidelity and immersed feeling in the scene simulation, and hence affect the quality of training on the anchor handling operation by using AHS. Based on the Lumped Mass Method the dynamics model of the mooring line was built up, and 4-order Runge-Kutta method was used to solve the model, and the computing speed could meet the demand on real-time; A model for the mooring line embedded in seabed soil was established, the modeling of line-seabed interaction was realized, and the results can reflect the line's motion in seabed soil; By applying a series of visualization technologies, the dynamic simulation of the anchor handling operation in offshore engineering was realized.

Key words: anchor handling simulator, mooring system, lumped mass method, dynamics model