Modeling And Simulation Of Azimuth Stern Drive Tug With Controllable Pitch Propeller

Azimuth stem drive(ASD) tugs with Controllable Pitch Propeller(CPP) play an important role in modern port. In the complex and crowded port environment, the CPP in nozzle can control the speed and direction of the tug by changing the pitch and steering angle. It can make full use of the engine power in different conditions which improves the maneuverability and practicality of tugs. This thesis studies ASD tugs with CPP and mainly completes three parts just as follows.(1) According to the separated theory, this thesis builds the horizontal motion equations of ASD tugs with CPP. This thesis mainly studies the regular speed motion of tugs in deep water. It calculates the inertia hydrodynamic force and viscous hydrodynamic that affecting the hull.(2) This thesis calculates ducted controllable propeller’s thrust model and the resistance model for ASD tug with CPP. Due to the lack of appropriate CPP chart, it adopts the amending of fixed propeller chart with the same parameter to calculate the trust and consider the implication of wake and trust deduction. The residual resistance is based on Targert’s charts. The prismatic coefficient is based on the best prismatic coefficient curve. This thesis chooses the right residual resistance curve and gets the residual resistance equation by using MATLAB and mathematical interpolation method. Then it cooperate the thrust force and the resistance force to analysis the correction of thrust model and resistance model.(3) The thesis programs the mathematical Model of ASD tugs with CPP via VC6.0software and carries out the typical manipulation experiments with simulation platform. The experiments include spiral test and turning test. To know more about the maneuvering capability of this tug by analyzing the test result. It proves the accuracy of model by contrasting simulation results and data from Danish Maritime Institute.·...