Modeling And Simulation Of Aticulated Tug&Barge's Motion

As new members of ships, the most prominent feature of the Aticulated Tug&Barge is the loading and dynamic part of the free "separation. " When the ship arrived in port, the tugboat can be separated to continue operations, particularly for short-haul point to point transport, which can shorten the transportation time and cost. Because of the special nature of this kind of ship, the ship industries are lack of perceptual knowledge, and lack of understanding of the study of manoeuvrability. Therefore, for the safety and efficient ship's maneuvering, the study of the Aticulated Tug&Barge becomes especially important.In order to describe the ship maneuverability, establishing accurate mathematical model of the Aticulated Tug&Barge, this paper bases on the combination of Kijima model and Yoshimura model. The model is suitable for the entire maneuvering range including normal speed, low speed, small and large drift angle and so on., and the effect of shallow water is also well considered.In the motion mathematic model of submerged ship overlaying whose propulsive force and bow thruster force as the outside force, and considering the hull, oar force and force moment sufficiently, and mutual interference.In the condition of normal speed, hydrodynamic force is calculated by Kijima model, then this paper simulates the motion of turning and direct way the simulation results show that the mathematical model can reflect the motion of the Aticulated Tug&Barge. In the condition of low speed, hydrodynamic force was calculated by Yoshimura model. With the aid of bow thruster, this paper attains the turning motion of the Aticulated Tug&Barge on the original place. The results Verified that the Aticulated Tug&Barge has excellent maneuverability.In order to to verify the correctness and feasibility of the maneuvering mathematical model, this paper do the simulation of the ship maneuverability appling MATLAB language. By comparing the ship test data, the error can meet the engineering application, can be used to predict the ship's maneuverability.