On the Control of CPP Ships by Steering During In-Harbour Ship-Handling

This paper describes the results of experimental and simulation studies that aimed at developing effective control methods for single-CPP single-rudder ships during the coasting manoeuvre and the stopping manoeuvre. In order to improve the manoeuvrability of CPP ships under coasting, the authors performed full-scale experiments and confirmed that CPP ships under coasting using the Minimum Ahead Pitch (MHP) of CPP are controllable by steering. A simulation study was also conducted to evaluate the ship-handling method during the stopping manoeuvre that applies a turning moment to the ship by the maximum rudder angle steering prior to the reversing operation of the CPP and it is confirmed that CPP ships can be controlled sufficiently by the proposed method.