The method for stabilizing ship oscillations uses a gyroscope system mounted on a three-degree-of-freedom (3DOF) support.

Abstract

The invention relates to a method for stabilizing ship oscillations using a gyroscope system mounted on a three-degree-of-freedom (3DOF) support.The method includes the following steps: acquiring data on the ship's oscillating state from at least one sensor mounted on the hull; determining the ship's actual spatial kinematic state and deviation from the desired steady state; performing kinematic coordinate transformations to determine the gyroscope's target orientation in space so that the gyroscope's pre-rotation moment vector has a moment component opposing the ship's oscillation; performing inverse kinematic calculations of the three-degree-of-freedom support to determine the target rotation angles corresponding to the drive mechanisms; coordinating the drive mechanisms of the three-degree-of-freedom support to change the orientation of the gyroscope rotating in three-dimensional space to create an oscillation-resisting moment acting on the hull; and continuously repeating these control steps in real time during the ship's operation.The invention allows for the creation of anti-oscillation moments in one or more oscillation directions simultaneously, including Roll, Pitch, and Yaw, thereby improving the stability of ships, especially suitable for small ships or vessels with limited installation space.

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