A co-simulation approach to onboard support of marine operation: a Palfinger crane path planning case

Abstract

Marine cranes are one of the most important industrial equipment in the maritime field. The base of a marine crane is dynamically moving as the motion of the ship’s six degrees of freedom that is affected by offshore environmental loads. There is a coupling between the crane and the ship, which means the crane operation and the ship motion affect each other. In this paper, co-simulation technology is employed to construct the virtual marine operation system which is composed of diverse Functional Mock-Up Units (FMUs) exported using the Functional Mock-Up Interface (FMI) standard and System Structure and Parameterization (SSP) standard to define the structure and parameters based on the co-simulation platform Vico. A path planning case for the Palfinger crane is implemented using the A* algorithm. The physical three-dimensional working space of the crane is discretized into a finite number of nodes in joint space. The cost is defined by the variable of the ship motion to optimize the marine operation. The obtained discrete nodes are smoothed to get the velocity of the actuators as control signals. Simulation of the crane operation is carried out in the virtual operating system following the planned path.