Study on mathematical model for simulating ship berthing or unberthing with lateral thruster in harbor 侧推器协助船舶靠离泊操纵的数学模型
Side thrusters names : front thrusters are retro thrusters ; top / bottom thrusters are attitude thrusters ; left / right thrusters are lateral thrusters 侧推进器名称:前推进器为“制动推进器” ;上/下推进器为“姿态推进器” :左/右推进器为“横向推进器” 。
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 计算结果表明侧推器操纵效能与航速及桨转速直接有关,零航速最好,且随桨转速增高而增强;结果同时也表明了借助于主推进器、首侧推器和舵的联合操纵可实施纯横移运动。