Sustainable Marine Structures

Non-linearity Analysis of Ship Roll Gyro-stabilizer Control System

Sathit P.

Department of Maritime Engineering, Faculty of International Maritime Studies, Kasetsart University, Chonburi, 20230,Thailand

Chatchapol C.

Department of Mechanical Engineering, Faculty of Engineering, Kasetsart University, Bangkok, 10900, Thailand

Phansak I.

Department of Nautical Science and Maritime Logistics, Faculty of International Maritime Studies, Kasetsart University,Chonburi, 20230, Thailand

DOI: https://doi.org/10.36956/sms.v3i1.316

---

Abstract

A gyro-stabilizer is the interesting system that it can apply to marine vessels for diminishes roll motion. Today it has potentially light weight with no hydrodynamics drag and effective at zero forward speed. The twin-gyroscope was chosen. Almost, the modelling for designing the system use linear model that it might not comprehensive mission requirement such as high sea condition. The non-linearity analysis was proved by comparison the results between linear and non-linear model of gyro-stabilizer throughout frequency domain also same wave input, constrains and limitations. Moreover, they were cross checked by simulating in time domain. The comparison of interested of linear and non-linear close loop model in frequency domain has demonstrated the similar characteristics but gave different values at same frequency obviously. The results were confirmed again by simulation in irregular beam sea on time domain and they demonstrate the difference of behavior of both systems while the gyro-stabilizers are switching on and off. From the resulting analysis, the non-linear gyro-stabilizer model gives more real results that correspond to more accuracy in a designing gyro-stabilizer control system for various amplitudes and frequencies operating condition especially high sea condition.

Keywords: Active gyro-stabilizer; Twin gyro-stabilizer; Ship large roll motion; System identification; Inverse problems; Non-linear damping moment; Non-linear restoring moment

---

References

[1] Chadwick, J.H. (1955), “On the stabilization of roll”, Trans. Soc. Naval Arch. Marine Eng, 63, 237-280.

[2] Marzouk, O.A. and Nayfeh, A.H. (2009), “Control of ship roll using passive and active anti roll tanks”, Ocean Engineering, 36(9), 661-671.

[3] Haghighi, H. and Jahed-Motlagh, M.R. (2012), "Ship roll stabilization via Ssliding mode control and gyrostabilizer", Bul. inst. politeh. iai Autom. control Comput. sci. sect. J, 1, 51-61.

[4] Townsend N.C., Murphy, A.J. and Shenoi, R.A. (2007), “A New Active Gyrostabiliser System for Ride Control of Marine Vehicles”. Ocean Engineering, 34 (11-12), 1607-1617.

[5] Lewis, V.E. (1986), “Principles of Naval Architecture”. The Society of Naval Architects and Marine Engineers. Chapter IX.

[6] Lloyd, A.R.J.M. (1998), “Seakeeping Ship Behaviour in Rough Weather”. Ellis Horwood Ltd.

[7] Brennan, L. (1905), "Means for Imparting Stability to Unstable Bodies", US Patent 796893.

[8] Sperry, E.A. (1908), “Steadying device for vehicles”, Patent US 907907.

[9] Schilovski, P.P. (1909), “Gyrocar”, Patent GB 12021.

[10] Schilovski, P.P. (1914), “Gyrocar”, Patent GB 12940.

[11] Beznos, A.V., Formal’sky, A.M., Gurfinkel, E.V., Jicharev, D.N., Lensky, A.V., Savitsky, K.V. and Tchesalin, L.S. (1998). “Control of autonomous motion of twowheel bicycle with gyroscopic stabilization”, Proceedings—IEEE International Conference on Robotics and Automation 3, 2670-2675.

[12] Karnopp, D. (2002), “Tilt control for gyro-stabilized two-wheeled vehicles”. Vehicle System Dynamics, 37 (2), 145-156.

[13] Brown, H.B., Jr. and Xu, Y. (1996), "A Single-Wheel, Gyroscopically Stabilized Robot", Proc. of the 1996 IEEE Int. Conf. on Rob. And Autom, Minneapolis, Minnesota.

[14] Aubrun, J.N. and Margulies, G. (1979). “Gyrodampers for large scale space structures”, Technical Report, NASA CR-159 171.

[15] Woolsey, C.A. and Leonard, N.E. (2002), “Stabilizing underwater vehicle motion using internal rotors”, Automatica, 38 (12), 2053-2062.

[16] Schultz, C. and Woolsey, C.A. (2003), “An experimental platform for validating internal actuator control strategies”, In: IFAC Workshop on Guidance and Control of Underwater Vehicles, April 2003, Newport, South Wales, UK, 209-214.

[17] Sperry, E.A. (1910), “The gyroscope for marine purposes”, Transactions of the Society of Naval Architects and Marine Engineers XVIII, 143-154.

[18] Schlick, E.O. (1904a), “Device for minimising the oscillatory movements of ships”, Patent US 769493.

[19] Schlick, E.O. (1904b). “The gyroscopic effect of flywheels on board ship”, Transactions of the Institute of Naval Architects, 23, 117-134.

[20] Forbes, T.C. (1904), “Device for steadying ships” Patent US 769693.

[21] Sperry, E.A. (1908), “Steadying Device for Vehicles”, Patent US 907907.

[22] McGookin, M., Anderson, D. and McGookin, E. (2008), “Application of MPC and sliding mode control to IFAC benchmark models”. In: UKACC International Conference on Control 2008, Manchester, UK.

[23] Perez, T. and Steinmann, P. D. “Analysis of Ship Roll Gyrostabilizer Control”, Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil.

[24] Masri, S.F., Chassiakos, A.G. and Cauchey, T.K . (1993), “Identification of nonlinear dynamic systems using neural networks”, Journal of Applied Mechanics. 60(1), 123-133.

[25] Chassiakos, A.G. and Masri, SF (1996), “Modeling unknown structural systems through the use of neural network”, Earthquake Engineering & Structural Dynamics, 25(2), 117-128.

[26] Liang, Y.C., Zhou, C.G. and Wang, Z.S. (1997), “Identification of restoring forces in non-linear vibration systems based on neural networks”. Journal of Sound and Vibration. 206(1), 103-108.

[27] Liang, Y.C., Feng, D.P. and Cooper, J.E. (2001), “Identification of restoring forces in non-linear vibration systems using fuzzy adaptive neural networks”. Journal of Sound and Vibration. 242(1), 47-58.

[28] Jang, T.S., Kwon, S.H. and Han, S.L. (2009), “A novel method for non-parametric identification of nonlinear restoring forces in nonlinear vibrations from noisy response data: A conservative system”, Journal of Mechanical Science and Technology. 23(11), 2938-2947.

[29] Jang, T.S., Kwon, S.H. and Lee, J.H. (2010) “Recovering the functional form of the nonlinear roll damping of ships from a free-roll decay experiment: An inverse formulism”, Ocean Engineering. 37, 14-15.

[30] Jang, T.S. (2011), “Non-parametric simultaneous identification of both the nonlinear damping and restoring characteristics of nonlinear systems whose dampings depend on velocity alone”, Mechanical Systems and Signal Processing. 25(4), 1159-1173.

[31] Jang, T.S., Baek, H., Choi, S.H. and Lee S. (2011), “A new method for measuring nonharmonic periodic excitation forces in nonlinear damped systems”, Mechanical Systems and Signal Processing. 25(6), 2219-2228.

[32] Pongduang, S., Chungchoo, C. and Iamraksa, P. (2020), “Nonparametric Identification of Nonlinear Added Mass Moment of Inertia and Damping Moment Characteristics of Large-Amplitude Ship Roll Motion”, Journal of Marine Science and Application, 19(2), 17-27.

[33] Arnold, R.N. and Maunder, L. (1961), “Gyrodynamics and its Engineering Applications”, Academic Press, New York and London.

[34] Bretschneider, C.L. (1959), “Wave variability and wave spectra for win-generated gravity waves”, Technical Memorandum No. 118, Beach Erosion Board, U.S. Army Corps of Engineers, Washington, DC, USA.