Multibody Dynamics Model and Simulation for the Totally Enclosed Lifeboat Lowered From Ship in Rough Seas

For the design of ship equipment and crew training, it would be useful to develop software for the three-dimensional simulation of a totally enclosed lifeboat.To improve the simulation accuracy and immersion of the software, we present a multibody dynamics model for a lifeboat lowered from a ship, accounting for the coupled motion among the ship, lifeboat slings, a cable-pulley system, and the lifeboat.The equations of the whole system are formulated using Kane's method.The model of ship manoeuvring mathematical group is used to calculate the forces and moments acting on the hull of the ship.The hydrodynamic and wind loads on the boat are modeled using the strip theory.The impact force between the ship and the boat colliding is estimated using the contact theory of Hertz and an elastoplastic model.The method of lumped mass is used to model the lifeboat slings.For the cable-pulley system, we present an efficient model for the dynamics of the pay-out/reel-in process based on the framework of Kane's method.The local load of each cable segment between two pulleys is calculated by the model of a linear spring on the basis of the amount of cable passages over pulleys and the variation of the pulley positions, conversely, the cable segment exerts force and moment on the pulleys.The motion equations of the whole system are solved using fourth-order Runge-Kutta.The model can simulate the lowering of the lifeboat, and obtain the three-dimensional motion parameters of the ship, the lifeboat, slings and pulleys, and the local tension load of the cable.The results show that the simulation curves are near the ones of the model experiment, and their trends are coincident.Thus, it can be concluded that our model is feasible.According to our model, the motion of the ship has a significant effect on the magnitude of the lifeboat's oscillation when the sea state is above level 4; it is safe when the initial clear distance is greater than 1.5 times the width of the boat and the sea conditions are below level 5. Finally, the model is applied to the software for three-dimensional simulation.