| On the basis of the navigation simulator level certification standard of 2011 DNV(Det Norske Veritas), the marine simulator performance tug unit mathematical model is divided into the following 4 categories including:1) the vector control model (No control model);2)(4DOF,Four Degrees of Freedom), interactive tug(Without interference between tug and the towed ship); 3) (4DOF), interactive tug (tug and tow interference and effect of field of ship on the tug); 4) the task of interactive tug (6DOF),(with the interference waves on the thrust or drag on the basis of 3)).The topic for the second largest category of the establishment of tug and tow pushing operation manipulation motion mathematical model, and its application in interactive tug simulator. Mainly completed the following work:1) Based on MMG(Ship Maneuvering Mathematical Model Group) modeling idea, the establishment of ASD tug and LNG(Liquefied Natural Gas)ship four degrees of freedom motion mathematical model. This paper mainly studies the general operation of the ship in deep water condition and the simulation results are carried out by simulation test.2) Using Isherwood and Yanoto formula, the model of the wind disturbance force is established.3) Based on the intersection detection algorithm of polygon, a testing platform of ship collision detection is developed.4) Improving mathematical model of rudder fender. Firstly getting the rubber fender deformation by effective kinetic energy of ASD tug and positon of ship.Secondly calculating the reaction force by relational expression between the rubber fender deformation and reaction force.5) The simulation testing platform of the interactive tug pushing operation(4DOF) is built by VS2013. Real-time simulation test is conducted about unberthing operation of large LNG vessel under the assistance of two tugs with wind disturbance. Results show that the model simulation accuracy can meet the need. Simulation of tug pushing operation has practical application value. |
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