船舶動態定位控制模擬之視覺虛擬實境開發

THE RESEARCH ON THE VIRTUAL REALITY OF THE SHIP DYNAMIC POSITIONING CONTROL SIMULATION

海事工程中往往需要工作船與其他船隻配合，其依賴海上工作人員和船舶動態定位設備，來保持船舶在海上的位置和方向，並進行其他海事工程項目。目前台灣與一些跨國公司正在開發台灣海峽之離岸風能，然而在國內產業中缺少相關人員教學與訓練設備。故本研究中，船舶動態定位教學平台透過船舶運動模擬技術，並整合虛擬實境（Virtual Reality，VR）技術的運用，以增強海事工程的人員教學和訓練能量。其中，船舶在波浪中的運動和動態定位模擬技術基於六自由度運動方程式，包括耐海性和操縱性，並考慮了海洋環境的外力。時程領域模擬採用四階Runge-Kutta數值方法，計算船舶運動和動態定位控制反應。VR技術與視覺化模擬引擎軟體配合使用，可在螢幕上準確表示船舶的六自由度加速度反應、船舶軌跡和海洋環境交互影響，增強模擬操作環境的臨場感。本研究為開發用於工作船的船舶動態定位模擬的虛擬實境，減少人員教學和訓練門檻，並達到船舶動態定位技術的獨立發展。希望有助於船舶設備產業的升級，並提高學生將來在海上工作之意願。

In general, the workboats are required in maritime engineering to cooperate with other vessels. It often relies on the related crew and the ship's dynamic positioning system to keep the position and direction of the ship at sea, and then to manipulate the offshore engineering equipment. In Taiwan, offshore wind power is currently being developed with the global company. However, there is often a lack of relevant personnel teaching and training equipment in the domestic industry. In the study, the ship Dynamic Positioning (DP) system is developed by ship motion simulation technology, and integrated the using of Virtual Reality (VR) technology to enhance the teaching and training capabilities of the maritime engineering. Among them, the ship motion in the wave and the dynamic positioning simulation technology are based on the six degrees of freedom (6-DOF) motion equation. It consists of seakeeping and maneuvering, and considers the ocean environment external force. The fourth-order Runge-Kutta numerical method is applied to calculate the ship motion and DP responses in the time-domain simulation. The VR technology cooperates with the visual simulation engine software to accurately represent the ship's 6-DOF acceleration response, ship trajectory and the interactive ocean environment on the screen, which enhances the experience from the scene ambiance of the simulation operation. The purpose of the study is to develop the virtual reality of the ship dynamic positioning simulation for the workboat, reducing the threshold of personnel teaching and training the DP control on the workboats, and to achieve the independent development of ship DP technology. Not only to support the upgrading of the marine equipment industry, but also to improve the students' willingness to work at sea in the future.