拖轮协助操船
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According to the MMG's separated modeling theory, an integrated mathematical model is established, which can be applied to ship maneuvering with tugboat assistance in harbor.
本文采用MMG分离建模的思想建立了一个较为精确、较为完整的适用于港内拖轮协助操船工况下的运动数学模型。
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