Modeling And Simulation Of VSP-Tug's Motion

In order to steer the ship more safely and efficiently, tug assisted have become indispensable means for safe navigation in harbors. So, it is particularly important to study the maneuverability. This paper presented a type of tugboat with mature technology, excellent performance, but has not been widely used in harbors of our country. That is, VSP-Tug .This article also have an in-depth study on its maneuvering Performance. On the basis of information which has been released public home and abroad, by using method of MMG modeling, this paper established a group of more accurately and completely equations of VSP-Tug's motionOn the condition of normal speed , hydrodynamic force was calculated by Kijima model ,at the same time, considered the heel motion of the tug. Then simulated the motion of turning and direct way of tug. The simulation results show that the mathematical model can reflect the motion.On the condition of low speed, hydrodynamic force was calculated by Yoshimura model. By regulating the angle of propeller, we can realize the motion of sideway or turning on the spot. The results show that VSP-tug has excellent handling performance.To understand the changes of the hydrodynamic derivative has the degree of influence on the equations of motion .This paper tried to offset the individual derivative and discuss the manipulation of equation by changing the corresponding derivative, and depicted the affected curve.This research more objectively descript tug's movement and provide a theoretical reference for manipulation of the safety assessment of the tug. It also provides a theoretical foundation to Navigation Simulator Research and Development.