Maneuvering simulations at large drift angles of a ship with a flapped rudder

Okuda, R.; Yasukawa, Hironori; Yamashita, T.; Matsuda, Akihiko

doi:10.1016/j.apor.2023.103567

Cited by 7 publications

(1 citation statement)

References 12 publications

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“…In the conventional MMG model a moderate speed is concerned, the hydrodynamic forces are treated as linear, and the should be smaller than 20 degrees; the resultant inflow angle to the thruster and drift-angle rudder is small, and the ship motion is relatively insensitive to the external disturbances. However, in the berthing maneuver process [67,68] the ship undergoes conditions like low advance speed, large drifting, four-quadrant thrust and low rudder effect, and the ship is vulnerable and sensitive to external disturbances.…”

Section: Discussion Of Mmg Modelmentioning

confidence: 99%

State-of-the-Art Review and Future Perspectives on Maneuvering Modeling for Automatic Ship Berthing

Zhang,

Wu,

Liu

et al. 2023

JMSE

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Automatic berthing is at the top level of ship autonomy; it is unwise and hasty to hand over the control initiative to the controller and the algorithm without the foundation of the maneuvering model. The berthing maneuver model predicts the ship responses to the steerage and external disturbances, and provides a foundation for the control algorithm. The modular MMG model is widely adopted in ship maneuverability studies. However, there are two ambiguous questions on berthing maneuver modeling: What are the similarities and differences between the conventional MMG maneuvering model and automatic berthing maneuvering model? How can an accurate automatic berthing maneuvering model be established? To answer these two questions, this paper firstly performs bibliometric analysis on automatic berthing, to discover the hot issues and emphasize the significance of maneuver modeling. It then demonstrates the similarities and differences between the conventional MMG maneuvering model and the automatic berthing maneuvering model. Furthermore, the berthing maneuver specifications and modeling procedures are explained in terms of the hydrodynamic forces on the hull, four-quadrant propulsion and steerage performances, external disturbances, and auxiliary devices. The conclusions of this work provide references for ship berthing mathematical modeling, auxiliary device utilization, berthing aid system improvement, and automatic berthing control studies.

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Section: Discussion Of Mmg Modelmentioning

confidence: 99%

State-of-the-Art Review and Future Perspectives on Maneuvering Modeling for Automatic Ship Berthing

Zhang,

Wu,

Liu

et al. 2023

JMSE

View full text Add to dashboard Cite

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A study on berthing and unberthing of a single-shaft ship with a bow thruster

Okuda,

Yasukawa,

Hirata

et al. 2023

J Mar Sci Technol

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In this study, the berthing and unberthing performances of a single-propeller and single-rudder inland container ship with a flapped rudder and bow thruster were investigated using free-running model tests. A navigation method was used for the tests to adjust the bow thruster, so that the heading remained parallel to the pier and the ship berths or unberths while sailing in oblique conditions. As a result, the proposed method enables the target ship to berth or unberth in shallow water with $$h/d=1.5$$ h / d = 1.5 , where h is the water depth and d is the ship draft. Such a free-running test using the navigation method is useful for evaluating the berthing and unberthing performance of single-shaft ships with a bow thruster. In addition, a bow thruster impeller revolution controller was incorporated into the maneuvering simulation model proposed by the authors, and berthing calculations were performed. The calculation results were compared with free-running test results for validation. These results are consistent with the free-running test results with practical accuracy.

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