MATHEMATICAL MODELING OF TOWAGE OPERATION FOR INTERACTIVE TUG SIMULATOR

摘要

Interactive operation plays a significant role in physical reality for tug simulator. This paper addresses mathematical modeling of tug towage operation to assist the ship maneuvering in interactive style. Mathematical modeling of the towage system is presented. The model for tugboat is based on MMG's structure. And the model for towed ship is based on Abkowitz's framework. Towline tension model is proposed in two cases. One is towline tension model with linear strain, and the other is the model with nonlinear strain. One advantage of our towline tension modeling is that towline self-weight is taken into account. We use iterative algorithm to calculate the towline tension. Simulation testing platform are programmed in Visual C++ language. The simulation research demonstrates that the proposed interactive tug operation model is reliable and effective.