Developmental Study on Dynamic Positioning System of Ocean Tug

动力定位是海洋拖船的基本功能之一，操纵杆控制器被广泛用于在人工控制下保持理想的位置。本文以一艘典型的具有两个可调螺距螺旋桨、两个襟翼舵和一个艏侧推器的远洋拖船为研究对象，首先报道了低速浅水条件下的系留模型试验结果，建立了船舶横向运动较大时操纵运动的数学模型。其次，介绍了操纵杆控制器的设计方法。讨论了保持理想位置的过程，提出了几种控制装置的推荐组合，最后对操纵杆控制系统的有效性进行了实时仿真研究，并提出了设计此类系统的基本方法。

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.