Mathematical Model for a Real-Time Ship Maneuvering, Stationkeeping, andSeakeeping Training Simulator

摘要

This report documents the development of the mathematical model of a combinedmaneuvering, stationkeeping, and seakeeping simulation computer program. The model features a mix of physical based models for the propulsion systems and control surfaces and hydrodynamic coefficient based hull forces. The approach follows the concept of the modular maneuvering model. A quasi-steady assumption is utilized for the seakeeping motion effects. This allows the calm water maneuvering motions to be calculated separately, and the six degree of freedom linear response in waves superimposed. The effects of wind, current, and second order mean drift forces are included. Maneuvering, Seakeeping, Stationkeeping, Simulation.