Modeling And Simulation Of Tow's Motion

In order to study the maneuverability of Tow,this article gives a mathematical model on the base of the ship maneuvering mathematical model on water surface, According to MMG's separated modeling theory,the formulas for calculating hull hydrodynamic force,rudder force and propeller force are presented,and the hydrodynamic interaction among them;A integrated shallow water and low speed mathematical model for simulating ship maneuvering with cable force is presented in this paper,The paper calculate the equation of maneuvering mathematical model by Runge-Kutta method,and the ship maneuvering simulation researches are carried out by use of the MATLAB's Simulink Toolbox in this paper.Adopt the method of quantitative and qualitative analysis,the paper discusses the motion of tow in calm water,wind and stream.The sea towing has become an important way to insure the safe navigation of none power vessel(including the vessel lose power).So,it has great effect to study the tow's motion.The study has obtained the following conclusion:The towed vessel has slewing situation due to the force which including cable force and hydrodynamic force,and this motion can affect back to towing vessel.The outside force that includes wind and stream has an impact on the tow's motion. A certain yaw angle will be produced due to the Wind,and will increases with the area affected by the wind increases.Cross-stream on the extent of the impact of biased swing was less,but the tow will deviate from the route.Beside of wind and stream,the other factors can affect the tow's motion too,these factors contain the length of towing rope,velocity of towing,towing point,shallow water effect,loading condition,and PD control parameters.This research descripts tow's movement objectively and provides a theoretical reference for manipulation of the safety assessment of the tow.It also provides a theoretical foundation to Navigation Simulator Research and Development.