Study on mathematical model for simulating ship berthing or unberthing with lateral thruster in harbor 側(cè)推器協(xié)助船舶靠離泊操縱的數(shù)學(xué)模型
Side thrusters names : front thrusters are retro thrusters ; top / bottom thrusters are attitude thrusters ; left / right thrusters are lateral thrusters 側(cè)推進(jìn)器名稱:前推進(jìn)器為“制動推進(jìn)器” ;上/下推進(jìn)器為“姿態(tài)推進(jìn)器” :左/右推進(jìn)器為“橫向推進(jìn)器” 。
The calculated results indicate that maneuvering efficiency of the bow lateral thruster is related to velocity and thruster ' s rotate speed directly , it is the best at zero velocity , and maneuvering efficiency of the bow lateral thruster increase with increasing thruster ' s rotate speed ; the calculated results also indicate that crabbing motion can be operated for large vessels under the main thruster , the bow lateral thruster and the rudder ' s united control 計算結(jié)果表明側(cè)推器操縱效能與航速及槳轉(zhuǎn)速直接有關(guān),零航速最好,且隨槳轉(zhuǎn)速增高而增強(qiáng);結(jié)果同時也表明了借助于主推進(jìn)器、首側(cè)推器和舵的聯(lián)合操縱可實(shí)施純橫移運(yùn)動。