横傾斜を含む４自由度操縦運動数学モデルと操縦性推定

Abstract

Ship manoeuvrability has been generally predicted based on 3-DOF mathematical model. However, medium-high speed ships such as containerships and passenger ferries make sometimes a large roll motion by the steering, which more or less affects on the ship manoeuvrability. Although a lot of researches have been done about the effect of roll motion, the mathematical models of hydrodynamic forces have been proposed individually putting the additional terms of roll angle into the conventional 3-DOF mathematical model. This makes the difficulty in the prediction of manoeuvrability.