A Study Of Towing System's Manoeuvrability

Maneuverability is one of the most important performances of navigation, which has a great influence on ship's transport safety. Especially, with the development of ocean shipping, many counties have worked to improve the ship maneuverability and IMO has issued the Resolution MSC.137 (76), Standard for Ship Maneuverability in 2002. Meantime, more attention to the research of ship's maneuverability was paid by every aspect.Generally, comparative with the single vessel, research of towing system's maneuverability was not very much. In recent years, the towing operations which include tugboat assistance in harbor, rescue at sea and towage of ocean engineering constructions are increasing constantly. And there are many risks which would affect shipping security of the towing system in these operations, such as the towing rope's rupture, the towing rope touched seabed and towed vessel's yawing. In the past, sailors operated towing vessel with their experience and without systemic theory. Therefore, towing system's maneuverability should be researched for keeping the towing operations safe.Firstly, according to the MMG's separated modeling theory, this thesis gives the maneuvering motion coordinate of towing system, and a set of manoeuvring motion equations of the towing system which consists of a tow vessel, a towing rope and a towed vessel was established. Then the catenary model is chosen for calculating the tension of towing rope. The Runge-Kutta method is used for calculating the numerical solution of equations of maneuvering mathematical model, and program of towing system maneuvering motion simulation in time domain is compiled.Secondly, a set of linear disturbance equations of motion of the towing...