MECHANICAL GYROSCOPE-BASED ROLL MOTION REDUCTION OF MARINE VEHICLES: AN EDUCATIONAL SETUP

Abstract

Simple hardware (model boat and mechanical gyroscope) tool for teaching the basics of angular momentum and stabilizing concepts is presented in this paper. This tool enhances traditional in-classroom lecturing and laboratory experiments. The tool consists of a model boat, hobby-type servo system for wave generation, dc motor-powered mechanical gyroscope, a mini water pool, measuring and control subsystems. A graphical user interface (GUI)with MATLAB was designed for adjusting and controlling the tool, observing and recording the roll motion of the model boat. Hence, the construction of the stabilizing torque is visually explained and presented within the setup as a product of angular momentum (due to spin of flywheel) and external torque (due to external mechanical disturbance or waves). The tools help undergraduate students to understand what the gyroscopic effect is and how gyro stabilizers dampen the roll motion of the model boat in a practical fashion.

Keywords

• Gyrostabilizer
• Roll stabilization
• Experimental setup

References

1. Bernstein, D. S. (1999). Enhancing undergraduate control education. IEEE Control System Magazin, 40-43.
2. Brennan, L. (1903). Great Britain Patent No. 27.212.
3. DMS. (2022). DMS Magnus Master. Retrieved from https://www.dmsholland.com/en/stabilizers/magnusmaster-2/
4. ECP. (2022, 01 09). Control Moment Gyroscope. Retrieved from http://www.ecpsystems.com/controls_ctrlgyro.htm
5. Ertoğan, M., Ertuğrul, S., Wilson, P. A., & Tayyar, G. T. (2018). Marine measurement and real-time control systems with case studies. Ocean Engineering , 159(1), 457-469.
6. Forbes, T. C. (1904, 09 13). USA Patent No. 769693.
7. Gyroscope.com. (2022). Super Precision Gyroscope. Retrieved from Gyroscope.com: https://www.gyroscope.com/d.asp?product=SUPER2
8. Housner, G. W., & Hudson, D. E. (1959). Applied Mechanics Dynamic. Van Nostrand Company, Inc.

9. Karnopp, D. (2002). Tilt control for gyro-stabilized two-wheeled vehicles. Vehicle System Dynamics, 37(2), 145-156.
10. Lavieri, R. S., Getschko, N., & Tannuri, E. A. (2012). Roll Stabilization Control System by Sliding Mode. 9th IFAC Conference on Manoeuvring and Control of Marine Craft (pp. 448-452). Arenzano, Italy: The International Federation of Automatic Control.
11. Leve, F. A., Hamilton, B. J., & Peck, M. A. (2015). Spacecraft Momentum Control Systems. Springer, Cham.
12. Lewin, W. (2015). Rolling Motion, Gyroscopes. Retrieved 2022, https://www.youtube.com/watch?v=XPUuF_dECVI
13. Oleg, I. B., Vladislav, S. G., Anton, A. P., Alexey, A. B., & Nikolay, A. N. (2016). Robotic Boat Setup for Control Research and Education. IFAC-PapersOnLine, 49(6), 256-251.
14. Perez, T., & Blanke, M. (2012). Ship roll damping control. Annual Reviews in Control, 36, 129-147.
15. Quanser. (2022). Gyro/Stable Platform. Retrieved 03 05, 2019, from https://www.quanser.com/products/gyrostable-platform/
16. Schlick, E. O. (1903, 11 05). USA Patent No. 0769493.
17. Schlick, E. O. (1904). The gyroscopic effect of flywheels on board ship. Transactions of the Institute of Naval Architects, 23(1), 117-134.
18. Seakeeper. (2022). Retrieved from https://www.seakeeper.com/
19. Sperry, E. A. (1910). The gyroscope for marine purposes. Transactions of the Society of Naval Architects and Marine Engineers, 18(1), 143.
20. Taur, D. R., & Chern, J. S. (2012). Rolleron dynamics in missile applications. 24th Atmospheric Flight Mechanics Conference (pp. 718-). Portland, OR, USA: American Institute of Aeronautics & Astronautics.
21. Townsend, N. C., & Shenoi, R. A. (2014). Control Strategies for Marine Gyrostabilizers. IEEE Journal of Oceanic Engineering, 39(2), 243-255.
22. Towsend, N. C., Murphy, A. J., & Shenoi, R. A. (2007). A New active gyrostabiliser system for ride control of marine vehicles. Ocean Engineering, 34(1), 1607-1617.
23. Wesmar. (2022). Wesmar Fın stabilizer Systems. Retrieved from https://www.wesmar.com/commercial-fin-stabilizer-systems.
24. Woolsey, C. A., & Leonard, N. E. (2002). Stabilizing underwater vehicle motion using internal rotors. Automatica, 38(12), 2053-2062.
25. Yamada, M., Higashiyama, H., Namiki, M., & Kazao, Y. (1997). Active vibration control system using a gyro-stabilizer. Control Engineering Practice, 5(9), 1217-1222.