港内拖轮协助操船仿真数学模型的研究

本文为研制高精度、多功能的船舶操纵模拟器和进行船舶操纵安全评价的需要，首次提出了拖轮流体动力和拖轮Ｚ型导管螺旋桨四象限推力系数的实用估算方程。在此基础上，建立了港内拖轮协助操船仿真的数学模型。最后介绍了在港口引航实践中的两个仿真应用例。

Study on Ship Maneuvering Mathematical Model with Assistance of Tugs in the Harbor

In order to have needs of developing a multifuctional ship handling simulator with high accuracy and assessing the ship maneuvering safety, the practical estimating formula for the hydrodynamic force and moment acting on the tugs and Z type propelller thrust coefficients of the tugs are presented on the first time, and then the ship maneuvering mathematical model with the assistance of tugs in the harbor is constructed. In the end, the simulation results are applied to two piloting practices in the harbor.