Development of automatic time-domain simulation programme of berthing operation of ships

Rights statement
Awarding institution
  • University of Strathclyde
Date of award
  • 2024
Thesis identifier
  • T16926
Person Identifier (Local)
  • 200551482
Qualification Level
Qualification Name
Department, School or Faculty
  • As the world trade has increased significantly over the past 50 years, safe and effective management of harbour system is becoming an important issue. In particular, due to the increased complexity of harbour environment with various harbour facilities, berthing operation of ships takes much time and requires various technical supports from harbour masters, pilots and engineers. In this point of view, precise prediction and practice of berthing operation are required and development of automatic simulation tool is requested for planning and managing effective harbour system. In this study, a novel methodology to control the heading angle and the speed of ships on the simulation of berthing operation is presented. Particularly under the low advance speed of a ship, the simulation of ship movement and the application of mathematical models are challengeable objectives in the current research field. Through this study, the development of two different time-domain simulation programs using the PD (Proportional Derivative) control and the MPC (Model Predictive Control) is performed with two different mathematical models which are the normal MMG model and Kose’s model. Furthermore, the model simulation is performed and the result is compared with previous works in different berthing conditions. With various cases of simulation result, the statistical analysis is performed for defining the initial environment of efficient berthing operation. This study is expected to provide an efficient time-domain simulation tool to harbour designers for planning and managing a harbour system cost-effectively and an opportunity to harbour masters and pilots for practicing and understanding the berthing operation in various harbour situations. To increase the accuracy on prediction of ship berthing operation, it is needed to analyse ship movement, in particular, with low advance speed and to develop an effective algorithm and controller for simulating the berthing operation accordingly.
Advisor / supervisor
  • Yuan, Zhiming
Resource Type
Date Created
  • 2023