Ship Maneuvering in Deep and Confined Waters 



"Complete" model; 



o.osriv& 



TnH;:;r::r 



'm^'"''- 



Linear model: 



4 XT 



Model using inertia and rudder forces only: 

 3 SO 



t~"'^ 1 



Helmsman N 



Helmsman W 



Fig. 3. Simulator tests of manual steering of an unstable 230 000 

 tdw tanker using alternative mathematical models. Yaw 

 rate versus helm angle. 



813 



