A ship maneuvering model and application in harbor considering reversing characteristics of propeller

In order to improve the accuracy of the mathematical model of ship maneuvering in harbor, reversing characteristics of the propeller is considered. In this model, effects of shallow water, low speed, and environmental perturbation are introduced, and mutual interferences between various parts of the ship, including the hull, rudder and propeller are investigated. A cubic spline interpolation algorithm is applied to calculate the fluid force on the ship in high velocity domain (small drift angle) and low velocity domain (big drift angle). Simulation of the turning circle, emergency stopping, and course tracking control for a liquefied gas tanker is performed under the engine stopping condition, which verifies the validity of this model through a comparison with the ship's trial data and provides theoretical and engineering foundation for the design of ship steering controller and accurate prediction of ship maneuvering in the harbor. © 2016, Editorial Office of Ship Building of China. All right reserved.