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A VecTwin rudder system comprises twin fishtail rudders with reaction fins toincrease its performance. With a constant propeller revolution number, thevessel can execute special low-speed maneuvers like hover, crabbing, reverse,and rotation. Such low-speed maneuvers are termed dynamic positioning (DP), anda DP vessel should be fully/overly actuated with several thrusters. Thisarticle introduces a novel and experimental VecTwin positioning system (VTPS)without making the ship fully/overly actuated. Unlike the usual dynamicpositioning system (DPS), the VTPS is developed for low-speed operations in acalm harbor area. It is designed upon an assumption that the forces due to theinteraction between the rudders, the propeller, and the hull are linear withthe rudder angles within a range around the hover rudder angle. The linearrelationship is obtained through linear regression of the results from severalCFD simulations. The VTPS implements a PID controller that regulates theactuator forces to achieve the given low-speed positioning objective. It wastested in combined automatic docking and position-keeping experiments wheredisturbances from the environment exist. It shows promising potential for apractical application but with further improvements.

Experimental Low-speed Positioning System with VecTwin Rudder for Automatic Docking (Berthing)