Modeling And Simulation Of Ship Maneuvering With Tug Assistance

In recent years, with the rapid development of the global economy and trade volume rising, the world shipping industry's growing prosperity, the number of ships entering and leaving port is on the rise. But the port is limited, resulting in heavy traffic in port area, and danger of collisions also increased significantly in it for safety, In many ports, large ship handling must be assisted by tug in Port area. In addition, in many other confined case of bad weather, Tugs are also needed to ensure safety. Over years, Study on tug assistance remains on general pratice and experience level.Fewer theoretical researchs in mathematical simulation study were presented in the literature.In order to describe ship's movment with Tug assistance models more accurately, We combined the Kijima model and Yoshimura model. The model is suitable for the entire maneuvering range including normal speed, low speed, small and large drift angle and so on.The effect of shallow water is also well considered.Tug are normally used in harbour,in order to facilitate qualitative analysis, The paper overlooked the wind, and current effects.Tug forces are calculated by numerical simulations were carried out in matlab on shiphandling with the assistance of the tug in different conditions, different speeds, different role, and the tug assist the ship in situ cycles, such as the condition of the state of simulation, the simulation results and qualitative analysis of match the method of calculation is reasonable, the results can be obtained for the officers in the actual operation to provide atheoretical basis and reference.