Ship Maneuvering Technology With Tug Assistance In The Port Of Nouakchott

A result of evolving of the global economy and technology, ships are gradually on the large-scale, high-speed thus, increasing the number of ships. Limited the development of the harbor waters is resulting in heavy traffic in the harbor greatly increasing the risk of a collision. For security purposes the provisions of many ports, large vessels must be assisted by tug. In addition, the assistance of tugs is also required to ensure the safety of the ship due to operating restrictions in some waters or for ships in trouble due to bad weather. With the development of maritime transport, the use of tugs in the major ports is more and more frequent. Despite years of practical experience, the use of mathematical model simulations and development of theories, the manipulation of tugs remains the main practical problem.In order to accurately establish a model of the manipulation of tugs which will be used by the ship mathematical model, we proposed in previous field constant speed and shallow, low velocity, large drift anglers, taking into account the continuity of ship motion. Thus, using a combination of the two mathematical models; Yoshimora and Kijima model for ship and tug motions to establish a ship motion model for low-speed domain, with both small and large drift angles. The effect of shallow water is also well considered.That the number of modules in the establishment of ports, has the small drift angle (less than 20.) in this model, the large drift angle (greater than 30.), the drift angle between the two models use YOSHIMURA model to interpolate the results. For the convenience of calculation, the coefficient of the mathematical model proposed by other authors are reasonably simplified, and then the computer simulation researches are implemented.It not only has much significance in the prediction of ship's sea keeping and maneuvering behavior in seas, but also lays the foundations the following calculations; the ship motion, ship motion under tug effect and the tug force.Ship handling tug assistance usually occurs within or near the port in Nouakchott Port (autonomous port) waters;in order to facilitate qualitative analysis of this article, respectively, the interaction between the ship and tug, the analysis of iterative equations obtained are listed in force between them(The tug forces are calculated by numerical simulations). Then MATLAB models the ship motion in different load conditions, speeds, point of tugs assist, and other working conditions for the in situ cyclic motion state of the simulation. The simulation results and qualitative analysis is a reasonable methodology of calculation. The results can be obtained to provide a theoretical basis and reference.