海洋科学2026，Vol.50Issue(3)：98-108,11.DOI:10.11759/hykx20251216001
面向海上风电大型结构物吊装的多体耦合与精准检测算法研究
Research on multibody coupling and accurate detection algo-rithms for hoisting of large offshore wind power structures
摘要
Abstract
The hoisting of large offshore wind power structures encounters several technical bottlenecks such as difficult dynamic interaction modeling of ship-wave-hoisted object multibody systems under complex marine environments,low real-time early warning accuracy of collision risks,and large measurement errors of minimum safety distances.Existing algorithms generally fail to explain the engineering requirements of millimeter-level accuracy and 60 Hz real-time response and lack solutions that are deeply integrated with ship motion characteristics.To address these issues,this study proposes a set of core algorithm systems for offshore wind power hoisting associated with ship motion.1)A dynamic coupling algo-rithm for the ship-wave-hoisted object multibody system is developed by combining the three-dimensional potential flow theory and the spring-damper model based on the rigid body six-degree-of-freedom motion equation and absolute nodal coordinate formulation.This model is constructed to accurately transmit the marine environmental forces and the motion responses of ships and hoisted objects.2)A real-time collision detection algorithm is proposed based on oriented bounding box tree(OBB Tree)and separating axis theorem,which mainly improves computational efficiency through hierarchical pruning and adapts to the irregular shapes of ships and hoisting structures.3)An improved Gilbert-Johnson-Keerthi com-bined with Expanding Polytope Algorithm(GJK-EPA)millimeter-level minimum distance measurement algorithm is adopted,combined with the"greedy convex decomposition"strategies to handle non-convex structures,adapting to wind power structures with complex accessories and ship components.These three algorithms are verified by joint simulation with MATLAB and ADAMS,physical tests,and field verification under specific conditions such as wave height of 0.5-3 m,wind speed of 1-20 m/s,and ship roll of±5°.Results show that the displacement calculation error of the multibody cou-pling algorithm is≤2 mm,the collision detection response delay is≤16.7 ms,and the minimum distance measurement deviation is≤0.8 mm.Multiple potential collisions are successfully warned,and efficiency and safety are significantly im-proved in engineering applications.The algorithm system has reached an internationally advanced level in terms of accuracy,efficiency,and engineering applicability.It not only provides key theoretical support for the dynamic simulation of offshore wind power hoisting but also offers technical references for the interactive safety analysis of ships and marine structures,thus promoting the digital development of the interdisciplinary field of offshore wind power and ship engineering.关键词
船舶-海洋结构物交互/船舶-海浪-吊物多体耦合/OBB Tree碰撞检测/GJK-EPA算法Key words
ship-marine structure interaction/ship-wave-hoisted object multibody coupling/OBB tree collision detection/GJK-EPA algorithm分类
信息技术与安全科学引用本文复制引用
陈建均,庄延军,刘士宝..面向海上风电大型结构物吊装的多体耦合与精准检测算法研究[J].海洋科学,2026,50(3):98-108,11.基金项目
广东省重点领域研发计划项目(2021B0101230004)the Research and Development Program in Key Areas of Guangdong Province,No.2021B0101230004 （2021B0101230004）
