Use of the Moving Frame Method in Dynamics to Model Gyroscopic Control of Small Crafts at Sea: Experiment — Part 2

Abstract

This companion paper represents the experimental validation of a new mathematical method that models the gyroscopic control of small craft at sea. In light of the development of offshore wind farms, there is a need for stabilizing smaller vessels that transfer crew to and from the wind farms. One way of stabilizing floating vessels is by the use of gyroscopes (inertial spinning disks) mounted on the vessels. The research presented in this paper uses the Moving Frame Method (MFM) as the underlying analytical method. The companion paper introduces the method and provides the mathematical analysis. This paper presents the experimental validation. Tests performed in a wave tank are used to verify the equations obtained by using the MFM. The tests are performed using a scaled model of a floating vessel. The vessel motions are obtained by an inertial measurement unit (IMU). The data received from the IMU and equations obtained by using the MFM calculates appropriate gyroscopic nutation rates to reduce the vessels roll motions. The rates are then applied to the gyroscopes using servo motors. This research demonstrates the power of the MFM. More importantly, it shows how the MFM invites experimental validation tests, as it is fundamentally a 3D analysis, yet open to understanding and use by undergraduates. The authors request that reader review the companion paper previous to this one.