In the paper, a simplified six degrees of freedom mathematical model encompassing calm water maneuvering and traditional seakeeping theories is developed to simulate the ship turning circle test in regular waves. A coordinate system called the horizontal body axes system is used to present equations of maneuvering motion in waves. All corresponding hydrodynamic forces and coefficients for seakeeping are time varying and calculated by strip theory. For simplification, the added mass and damping coefficients are calculated using the constant draft but vary with encounter frequency. The nonlinear mathematical model developed here is successful in simulating the turning circle of a containership in sea trial conditions and can be extended to make the further simulation for the ship maneuvering under control in waves. Manuscript received at SNAME headquarters February 19, 2003; revised manuscript received January 27, 2004.

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