Abstract
An input and output states based responding ship motion nonlinear mathematical model is presented. Compared with state space model, the responding ship model costs less computation and preserves the nonlinear effect in the deduced differential equation. According to the ship relative parameters and trial voyage data, the mathematical model of the fifth generation 5446TEU container ships is constructed. Applying the established model, some ship turning simulations are carried out, whose results are consistent with the trial voyage data. This research establishes the necessary foundation for ship maneuvering simulator development and ship motion controller design.
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