Description of Sea Maneuvers Performed by a Group of Automatic Tugs Using the Flock Method

Abstract

This article is devoted to the description of the algorithmization of some sea maneuvers, which are performed by a "flock" of azimuth automatic tugs. The described maneuvers consist in the implementation of escorting, draping, mooring and unmooring of a cargo ship. The article provides a mathematical, schematic description of sea maneuvers, taking into account the technical differences of automatic tugs that affect the performance of the described operations. The description consists in the substantiation of the distribution of force between the automatic tugs, depending on the maneuver being performed. The calculation of the parameters of the rudder propeller is given on the basis of the described maneuvers, which is one of the important elements of the developed azimuth automatic tugboat. Some coefficients, resistances of media and varieties of power of the rudder itself are introduced and described. The calculation is carried out subject to the interaction of the "flock" of automatic tugs with a merchant ship of the Afromax class.