Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment
The towing operation of multi-tug-assisted ship navigation mainly relies on the experience of the captain, and there is no set of effective operation methods. Therefore, it is difficult to achieve accurate assisted navigation when multiple tugboats work in coordination. The calculation method of man...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/4/384 |
| _version_ | 1827695891488702464 |
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| author | Gongxing Wu Xiaolong Zhao Yushan Sun Linling Wang |
| author_facet | Gongxing Wu Xiaolong Zhao Yushan Sun Linling Wang |
| author_sort | Gongxing Wu |
| collection | DOAJ |
| description | The towing operation of multi-tug-assisted ship navigation mainly relies on the experience of the captain, and there is no set of effective operation methods. Therefore, it is difficult to achieve accurate assisted navigation when multiple tugboats work in coordination. The calculation method of maneuverability of the towing system with multi-tug-assisted navigation is proposed in this paper. In view of the complexity of multi-tug-assisted large ship maneuvering, this article focuses on solving the problems of force analysis and maneuvering modeling between the multi-tug and ship systems. Firstly, a maneuvering mathematic model for towing ships is established, and the hydrodynamic force of the hull, rope force of the tugs, and force of wind interference are analyzed. The thrust and moment of the ducted azimuthal propeller are calculated, and the mathematical model of the tug’s cable tension is discussed. Then, the fourth-order Runge–Kutta method is used to solve the differential equations of the maneuvering motion of the ships and each tug. Based on the ship-towing process by multiple tugs, a multi-tug-assisted ship towing simulation platform was built by using the Visual Studio development tool. Finally, on the simulation platform, multi-tug longitudinal-towing-simulation experiments at different speeds were carried out, and the simulation of turning towing maneuvers under the influence of wind was done. The simulation results showed that as the towing speed increases, the initial towing speed fluctuates greatly. There is a significant drift effect on the ships by the wind force. And the wind will cause a fluctuation in the tug’s rope force. The simulation of the multi-tugs towing a ship entering the port was carried out in the port environment. The results showed that the multi-tug towing system and simulation platform may be used for the safety training of the tug’s crew. |
| first_indexed | 2024-03-10T12:36:21Z |
| format | Article |
| id | doaj.art-053eecf74ab14947b5ee1a9d5e3e9a09 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T12:36:21Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-053eecf74ab14947b5ee1a9d5e3e9a092023-11-21T14:13:47ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-04-019438410.3390/jmse9040384Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port EnvironmentGongxing Wu0Xiaolong Zhao1Yushan Sun2Linling Wang3College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaThe towing operation of multi-tug-assisted ship navigation mainly relies on the experience of the captain, and there is no set of effective operation methods. Therefore, it is difficult to achieve accurate assisted navigation when multiple tugboats work in coordination. The calculation method of maneuverability of the towing system with multi-tug-assisted navigation is proposed in this paper. In view of the complexity of multi-tug-assisted large ship maneuvering, this article focuses on solving the problems of force analysis and maneuvering modeling between the multi-tug and ship systems. Firstly, a maneuvering mathematic model for towing ships is established, and the hydrodynamic force of the hull, rope force of the tugs, and force of wind interference are analyzed. The thrust and moment of the ducted azimuthal propeller are calculated, and the mathematical model of the tug’s cable tension is discussed. Then, the fourth-order Runge–Kutta method is used to solve the differential equations of the maneuvering motion of the ships and each tug. Based on the ship-towing process by multiple tugs, a multi-tug-assisted ship towing simulation platform was built by using the Visual Studio development tool. Finally, on the simulation platform, multi-tug longitudinal-towing-simulation experiments at different speeds were carried out, and the simulation of turning towing maneuvers under the influence of wind was done. The simulation results showed that as the towing speed increases, the initial towing speed fluctuates greatly. There is a significant drift effect on the ships by the wind force. And the wind will cause a fluctuation in the tug’s rope force. The simulation of the multi-tugs towing a ship entering the port was carried out in the port environment. The results showed that the multi-tug towing system and simulation platform may be used for the safety training of the tug’s crew.https://www.mdpi.com/2077-1312/9/4/384multi-tugscooperative maneuveringtowing forcemathematical modeling |
| spellingShingle | Gongxing Wu Xiaolong Zhao Yushan Sun Linling Wang Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment Journal of Marine Science and Engineering multi-tugs cooperative maneuvering towing force mathematical modeling |
| title | Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment |
| title_full | Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment |
| title_fullStr | Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment |
| title_full_unstemmed | Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment |
| title_short | Cooperative Maneuvering Mathematical Modeling for Multi-Tugs Towing a Ship in the Port Environment |
| title_sort | cooperative maneuvering mathematical modeling for multi tugs towing a ship in the port environment |
| topic | multi-tugs cooperative maneuvering towing force mathematical modeling |
| url | https://www.mdpi.com/2077-1312/9/4/384 |
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