Mathematical Model for MANSIM Version 2: A Surface Ship Maneuvering, Stationkeeping, and Seakeeping Simulator Computer Program.

This report documents the mathematical model of a combined maneuvering, stationkeeping, and seakeeping simulation computer program for two different classes of mine hunting vessels. The model features a mix of physical based models for the propulsion systems and control surfaces and hydrodynamic coefficient based hull model. The approach follows the concept of the modular maneuvering model. A quasi-steady assumption is utilized for the seakeeping motion effects. This allows the calm water maneuvering motions to be calculated separately, and the six degrees of freedom linear responses in waves to be superimposed. The effects of wind, current, and second order mean drift forces are included.