Developmental Study on Dynamic Positioning System of Ocean Tug

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Dynamic positioning is one of the essential functions of ocean tugs and a Joystick controller is widely utilized for keeping a desorable position under munual control. Inthe present report , an attempt is done to develop the joystick controller for a typical ocear tug with two controllable pitch propellers,two flap rudders and a bow thruster.At first, the results of the captive model tests carried out in low speed and shallow water conditions is reported and the mathematical model of maneuvering motions of ships with relatively large lateral motions is developed.Second, The procedure to keep a desirable position is discussed and the recommendable combnations of several control devices are proposed.Lastly, real-time simulation study is carried out for evaluating the effectiveness of the joystick control system and the basic method to design such systems are proposed.