Abstract. In the recent years, di erent mathematical models have been suggested for maneuvering of displacement vessels that are capable of estimation of vessel maneuvers with acceptable precision. These mathematical models are based on determined hydrodynamic coe cients and their accuracy depends on the known coe cients used to solve the mathematical model. System identi cation methods are developed to calculate these coe cients utilizing input and output data obtained from di erent sources. In this research, a 4.36-m model of KRISO Container Ship (KCS) displacement vessel has been manufactured by berglass, and the maneuver turning tests have been carried by selfpropulsion method. A 3DM-GX1 sensor, together with a protractor and Global Positioning System (GPS), has been used to measure the yaw and rudder angle, position, linear accelerations, and angular velocities of the vessel in di erent times. The hydrodynamic coe cients in the mathematical model are determined by the Extended Kalman lter method. Then, the mathematical model is solved and di erent maneuvers are simulated by coe cients calculated from the experiments. Simulations are validated by model tests. The mathematical model and hydrodynamic coe cients presented in this paper can be applied for optimization of ship maneuvering performance and course control purposes.
Abstract. In the recent years, di erent mathematical models have been suggested for maneuvering of displacement vessels, which are capable to estimate maneuvering of the vessel with acceptable precision. But, simulation of planing craft maneuverability through a mathematical model has not been developed yet. In this paper, a mathematical model is developed for maneuvering of the planing craft by including the rudder forces and moments. Di erent maneuvers, such as straight-line stability, course keeping, and turning circle, are executed through the mathematical model. Simulation results are validated with the published experimental results and it is shown that they are in good agreement. Finally, the in uence of rudder angle on maneuverability of planing craft is studied and, also, the e ect of aspect ratio has been investigated. The mathematical model and hydrodynamic coe cients presented in this paper can be applied for the optimization of planing craft maneuvering and the course control purposes.
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