Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Manoeuvring and control of vector tugs in maritime simulators – an actuation model subjected to hydrodynamic and wind effects during pull operations.
Submission Author:
Rodrigo Domingos Barrera , SP
Co-Authors:
Eduardo Aoun Tannuri, Rodrigo Domingos Barrera
Presenter: Rodrigo Domingos Barrera
doi://10.26678/ABCM.COBEM2017.COB17-0394
Abstract
This paper is devoted to expand and sophisticate the tug performance diagram created by Artyzsuk (2014) to obtain static equilibrium positions for tugboats under escort pull operations. The authors’ main goal is to use this model expansion to correctly represent the positioning and towing force magnitude exerted by vector tugs in maritime simulators when operating in pull mode. For the present work, the tug’s hull forces will be directly affected by external disturbances such as winds and oceanic currents. In addition, the hydrodynamic forces generated by the towed vessel escort speed will also be taken into account. In order to obtain the tug’s static equilibrium, main control parameters must be analyzed, such as: the tug´s propeller thrust; the thruster angle; the tug’s hull drift angle for a given escort speed; the tow line angle; the resultant towing force; the current speed and its hull drift angle; the wind speed and its hull drift angle. By fixing some of the control parameters, such as the tow line angle, the propeller thrust and the vessel advance speed, we can obtain the remaining control parameters (Artyszuk, 2013), such as the propeller’s angle of actuation, the tug’s hull drift angle and the resultant towage force. With implementation of the new mathematical model proposed in this work, the maneuvers performed in Maritime Simulators will gain a new level of reality when vector tugs are used.
Keywords
vector tugs, static equilibrium, tug performance diagram, maritime simulator, pull operations
