Sailboat Stabilization System A Major Qualifying Project Report Submitted to the Faculty of Worcester Polytechnic Institute in partial fulfillment of the requirements for the Degree of Bachelor of Science By ___________________________ ___________________________ Michael Brendlinger Dominic Gonzalez ___________________________ ___________________________ Pedro Miguel Steven Rutledge April 2014 Approved by ___________________________ ___________________________ Kenneth A. Stafford William R. Michalson Abstract Sailboats have played an integral part in history and development of modern society. The scope of this project focuses on one particular aspect of the operation of this boat: the crew. The crew is the secondary boat operator sitting toward the front of the boat and the primary need for the crew is to simply shift his/her weight in the boat in order to keep the boat at the desired angle. By replicating this action with an autonomous device, the crew can be eliminated. By setting a desired heel angle on a control panel, a mass driven by a motor can be moved laterally along a track in order to adjust the heel angle accordingly. The goal of this project is to allow a sailor to safely operate a Flying Junior dinghy without a crew and be able to maintain full control of the boat. 1 Acknowledgements Our team would like to thank the following for their assistance in the manufacturing process and their expertise in their respective fields: Department of Electrical and Computer Engineering: Professor William R. Michalson. MQP Advisor Robert M. Boisse, Electronics Technician III Department of Robotics Engineering: Professor Kenneth A. Stafford, MQP Advisor Joseph St. Germain, Robotics Lab Manager Tracey Coetzee, Robotics Administrative Assistant Kevin Arruda, Higgins Lab Manager Authorship Abstract ......................................................................................................................................................... 1 Acknowledgements ....................................................................................................................................... 2 Authorship .................................................................................................................................................... 3 Table of Figures ............................................................................................................................................. 9 Table of Tables .............................................................................................................................................. 9 Executive Summary ..................................................................................................................................... 10 1.0 Introduction .......................................................................................................................................... 13 2.0 Literature Review .................................................................................................................................. 15 2.1 Sailing .................................................................................................................................................... 15 2.1.1 Sailboat Terminology ..................................................................................................................... 15 2.1.2 Basics of Sailing .............................................................................................................................. 18 2.1.3 Physics of Sailing ............................................................................................................................ 21 2.2 Stability ................................................................................................................................................. 25 2.2.1 Gravitational and Buoyant Forces .................................................................................................. 25 2.2.2 Stability Curve ................................................................................................................................ 27 2.3 Stabilization Systems ............................................................................................................................ 28 2.3.1 Passive Systems.............................................................................................................................. 28 2.3.2 Active Systems ............................................................................................................................... 31 3.0 Methodology ......................................................................................................................................... 34 3.1 Mechanical Analysis .............................................................................................................................. 34 3.1.1 Boat Analysis .................................................................................................................................. 34 3.1.2 Force and Torque Calculations....................................................................................................... 35 3.2 Power Analysis ...................................................................................................................................... 38 3.3 Motor Analysis ...................................................................................................................................... 38 3.4 Sensor Analysis ...................................................................................................................................... 39 3.4.1 Orientation of the Boat .................................................................................................................. 39 3.4.3 Position of the Mass....................................................................................................................... 42 3.4.4 Position of the Boom ..................................................................................................................... 43 3.4.5 End of Track Sensors ...................................................................................................................... 44 3.4.6 Skipper Controls ............................................................................................................................. 44 3.5 Control Analysis .................................................................................................................................... 44 4.0 Results ................................................................................................................................................... 46 4.1 Mechanical ............................................................................................................................................ 46 4.2 Power .................................................................................................................................................... 47 4.3 Motor .................................................................................................................................................... 48 4.4 Sensors .................................................................................................................................................. 48 4.4.1 Orientation of Boat ........................................................................................................................ 49 4.4.2 Sensor Calibration .......................................................................................................................... 51 4.4.3 Position of Mass ............................................................................................................................. 52 4.4.4 Position of Boom ............................................................................................................................ 53 4.4.5 End of Track Sensors ...................................................................................................................... 54 4.4.6 Skipper Controls ............................................................................................................................. 55 4.5 System Block Diagram ........................................................................................................................... 57 4.5 Stabilization Loop .................................................................................................................................. 58 5.0 Discussion .............................................................................................................................................. 65 5.1 Mechanical ............................................................................................................................................ 65 5.2 Electrical ................................................................................................................................................ 67 5.3 Challenges ............................................................................................................................................. 67 5.4 Recommendations ................................................................................................................................ 69 6.0 Social Implications................................................................................................................................. 70 7.0 Conclusion ............................................................................................................................................