Study on mathematical model for simulating ship berthing or unberthing with lateral thruster in harbor;

Starting with the applications of ship s side thruster, this paper makes qualitative analysis of bow turning angle speed when bow thruster or equipment of rudder is solely applied to steering ship s turning in various speed ranges.

In order to control effectively, the results of a special investigation for determining effects of forward speed on the performance of the bow-thrusters are presented and discussed in this paper, and a theoretical model is presented to estimate the effectiveness in some velocity ratio range.