A hydrodynamic digital twin of vessel can be used to replicate the behaviour and response of the vessel in a virtual environment. In this paper, a real-time simulation model (RTSM) for an azimuth stern-drive (ASD) tug has been developed for simulating the hydrodynamic performance of the vessel under a range of environmental conditions. Based on the framework of a 4-DoF MMG manoeuvring model, the RTSM comprises manoeuvring, propulsion and environmental loads which are parameterised using numerical results from a combination of computational fluid dynamics (CFD) modelling work, including virtual planar motion mechanism (vPMM), seakeeping analysis, wind drag prediction and propulsion modelling. The RTSM is used to demonstrate the manoeuvrability of the vessel in calm water and under external loads from waves, winds and currents.

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