Research On Modeling And Simulation Of Large Towed Vessels Maneuvering Motion

In the case of the process of global economic integration continues to accelerate as wellas the rapid development of the marine resource development, the sea towage business alsobecomes increasingly busy. With the large ocean-going vessels in and out of the port,relying on off the pier, and narrow waterway navigation, it is becoming more and moredifficult to manipulate the large vessels, the risk of towage business accident is large and thefrequency is high. In this context, the research and simulation on the large being towed bythe tug combination towage has become the focus of research in towage subject, and hasreceived concern and attention from the concerned parties. In ensuring the safety of towageoperations, reducing the loss of personnel and property, and preventing marine pollution, ithas extremely significant engineering value.In this paper, against the difficulty of a large tug towing system modeling, based onmathematical model to the MMG separate maneuverability hull of hydrodynamiccomputational model, and take full account of the wind, wave, flow marine environmentfactors, combined with hauling rope mathematical model established by the tug, streamers,the two hanging drag the tug and drag tugboat alongside towing system consisting of threedegrees of freedom manipulation equation. Among which, according to the towagerequirements for real-time turn by tugs fore and braking, combining with the towageoperations and the actual ship, then determines the twin-lift drag double-Pong the towagedesign drag.This article is based on the establishment of a complete towage mathematical model oftugs, hauling rope and towed vessels. Contrary to open-loop control characteristics of thetowing system scheduling control model, the thrust grouping and sequential quadraticprogramming method is used to preliminary achieve the thrust allocation and control of fourtugs; at the same time, using MATLAB toolbox language of mathematical tools to build aship towing system simulation model of straight Airlines, cycle, turn the bow of the typicaloperating simulation. The simulation model can be used as a two-dimensional numericalsimulation of maneuvering motion of the towing system, combined with PID control, it canmanipulate the movement of large towing system simulation forecast, there is certainguiding significance for towage ship maneuvering.