Control architecture and physics
How control systems are composed, and the environment, rigging and failure models in the simulation.
Control modules
Control systems are built from small modules instead of one large system. A function is added or removed by adding or removing a module in the scene, with no new code. Modules can be extended without breaking older ones.
| Module | Role |
|---|---|
| Orchestrated control system | Keeps track of the modules that make up one system and handles its hardware inputs. This is what a station connects to. |
| Unit control system | Logic, failures and alarms for one function, such as a hoist, luffing or slewing. |
| Controller | Simulation logic that is not physical, such as creating objects or connecting parts. |
| Actor | A simulated physical component, such as a valve, generator or switchboard. Typed actors also have a 3D model. |
Example: offshore lattice boom crane
- Wire luffing, hoist and slewing unit control systems
- Alarm system
- Load chart
- CCTV manager
- Emergency drive, a separate operating path that works without main power
Environment and physics
| Area | Support |
|---|---|
| Wind | Profile and gusts per offshore standards, set by average time and reference height. Drag and lift coefficients are editable per load. |
| Waves | Regular, JONSWAP, Pierson-Moskowitz and wind-driven. |
| Rigging | Library of spreader bars, slings and shackles with adjustable length, weight, stiffness and SWL. Connect and release manually, or automatically at a set distance and speed. |
| Failure modes | Wires and connections that fail at a set force. |
| External loads | Forces and torques applied to objects at their centre of gravity or on interface surfaces. |
| Model import | Import of existing models. Mass, dimensions, joints, sensor positions and control logic can be edited. |
Delivered before
DP application
Our own DP application on a heavy-lift vessel, interfaced to the vessel's power management system.
Crane control
Modular crane control systems, and a toggle between our system and the customer's chair control system.
Rigging and installation
Rigging library and offshore structure loads for installation of monopiles, jackets and wind turbine components.