Systems and methods for controlling roll on a marine vessel with a gyroscopic stabilizer system
A system for stabilizing a marine vessel is provided. The system includes a gyroscopic stabilizer system configured to generate a stabilization torque and one or more controllers. The one or more controllers are configured to determine that a turn parameter of the marine vessel exceeds a turn threshold and that a speed parameter of the marine vessel exceeds a speed threshold, and operate the gyroscopic stabilizer system to achieve a target bank angle for the marine vessel.
1 . A system for stabilizing a marine vessel, comprising:
a gyroscopic stabilizer system configured to generate a stabilization torque;
one or more controllers configured to:
determine that a turn parameter of the marine vessel exceeds a turn threshold and that a speed parameter of the marine vessel exceeds a speed threshold; and
operate the gyroscopic stabilizer system to achieve a target bank angle for the marine vessel.
2 . The system of claim 1 , wherein the target bank angle is based at least in part on the turn parameter and the speed parameter of the marine vessel.
3 . The system of claim 2 , wherein the turn parameter is a turn rate.
4 . The system of claim 1 , wherein the turn parameter is a turn rate or a change in heading, and wherein the speed parameter is a vessel speed over ground, a vessel speed over water, an engine speed, a motor speed, or a throttle position.
5 . The system of claim 1 , wherein operating the gyroscopic stabilizer system to achieve the target bank angle comprises locking a precession angle of the gyroscopic stabilizer system responsive to a determination that a measured bank angle of the marine vessel is less than or equal to the target bank angle.
6 . The system of claim 5 , wherein locking the precession angle comprises controlling the gyroscopic stabilizer to maintain the precession angle within a predetermined lockout angle range.
7 . The system of claim 6 , wherein the predetermined lockout angle range comprises precession of the gyroscopic stabilizer system to a maximum of 10 degrees from a vertical axis of the marine vessel.
8 . The system of claim 1 , wherein operating the gyroscopic stabilizer to achieve the target bank angle comprises commanding the gyroscopic stabilizer system to generate the stabilization torque to oppose a roll direction of the marine vessel responsive to a determination that a measured bank angle of the marine vessel is greater than the target bank angle.
9 . The system of claim 1 , wherein the turn parameter of the marine vessel is received from a user steering input at a manually operable steering device or an autopilot command.
10 . The system of claim 1 , wherein the one or more controllers are further configured to stop operating the gyroscopic stabilizer system to achieve the target bank angle responsive to a determination that a turn is completed based on the turn parameter or a measured bank angle of the marine vessel.
11 . A method for controlling a gyroscopic stabilizer system configured to generate a stabilization torque for a marine vessel, comprising:
determining that a turn parameter of the marine vessel exceeds a turn threshold and that a speed parameter of the marine vessel exceeds a speed threshold; and
operating the gyroscopic stabilizer system to achieve a target bank angle for the marine vessel, wherein the target bank angle is based at least in part on the turn parameter and the speed parameter of the marine vessel.
12 . The method of claim 11 , wherein the turn parameter is a turn rate.
13 . The method of claim 11 , wherein the turn parameter is a turn rate or a change in heading, and wherein the speed parameter is a vessel speed over ground, a vessel speed over water, an engine speed, a motor speed, or a throttle position.
14 . The method of claim 11 , wherein operating the gyroscopic stabilizer system to achieve the target bank angle comprises locking a precession angle of the gyroscopic stabilizer system responsive to a determination that a measured bank angle of the marine vessel is less than or equal to the target bank angle.
15 . The method of claim 14 , wherein locking the precession angle comprises controlling the gyroscopic stabilizer to maintain the precession angle within a predetermined lockout angle range.
16 . The method of claim 15 , wherein the predetermined lockout angle range comprises precession of the gyroscopic stabilizer system to a maximum of 10 degrees from a vertical axis of the marine vessel.
17 . The method of claim 11 , wherein operating the gyroscopic stabilizer to achieve the target bank angle comprises commanding the gyroscopic stabilizer system to generate the stabilization torque to oppose a roll direction of the marine vessel responsive to a determination that that a measured bank angle of the marine vessel is greater than the target bank angle.
18 . The method of claim 11 , wherein the turn parameter of the marine vessel is received from a user steering input at a manually operable steering device or an autopilot command.
19 . The method of claim 11 , wherein the method further comprises stopping operation of the gyroscopic stabilizer system to achieve the target bank angle responsive to a determination that a turn is completed based on the turn parameter or a measured bank angle of the marine vessel.