Ship motion mathematical model in the ship lock waterway

The ship motion model changes in comparison of the open waterway when a ship enters the ship lock waterway due to the disturbances of wind, flow and bank effect and other environmental factors, which will affect the ship safety. Therefore, this paper proposes a ship motion mathematical model in the ship lock waterway. Based on a ship mathematical model group (MMG) model, the factors of low speed and shallow water effect are considered in the proposed model. Then, the force field is calculated by the bank effect, and uniform flow and steady wind model is introduced to calculate the hydrodynamic forces acting on the ship. The trajectories of the ship straightforward sailing and turning motions under different water depths and draft ratios with the proposed model are compared. The results show that as the water depth decreases and the environment interferes, the maneuvering ability of the ship decreases. The model can reasonably express the ship motion characteristics in the lock waterway and be the basis of ship motion prediction and control in ship lock waterways.