Ship Maneuvering in Deep and Confined Waters 



Symbol 



Definition 



Physical 

 Dimension 



Remarks 



Q 



Angular velocity of ship 



6e 



c 



; 

 11 



'Is 



e 



p 



<r 



(0 



Angle of attack 



Angle of drift 



Frequency parameter 



Coeff, of heading error term 

 in proportional rudder control 



Rudder angle (deflection) 



Rudder angle ordered by auto 

 pilot 



"Effective" rudder angle 



Phase lead angle 



Restricted water depth parameter - 



Ship-to-bank distance parameter 



Bank spacing parameter 



Port bank distance parameter 



Starboard bank distance parameter - 



Angle of pitch 



Body mass density ratio 



Mass density of water 



Coeff. of rate of change of 

 heading term in proportional 

 rudder control 



Prismiatic coefficient 



Angle of roll or heel 



Angle of yaw, or heading error 



Circular frequency 



Reduced frequency 



ML 



tan P = - v/u 

 V = Vw/g = u"<o" 



"Rudder ratio" 



6e = 6 for v=r=0 



; = T/(h - T) 



^ = 11s + ^p 

 "n = lis - -Hp 

 Tip= L/(Wp - yo) 

 il3 = L/(W3 - y^) 



[JL = m/pVo. For 

 norm, surface 

 ships fi = 1 



"Rate (time) 

 constant" 



co' = wL/V« co"/u" 



821 



