R/C Aircraft Carrier with Reaction Wheel Stabilizer
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- Опубликовано: 11 сен 2024
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"You could land any plane on that thing", as long as you can dodge the massive spinning wheel on the aft deck :D
You just gotta time your descent profile to come in between the spokes, it's something any military pilot picks up on naturally over time
@@verdiss7487 Yeah ... If they are any good, of course .....
It’s the kind of thing you only get wrong once
😂😂
The newer aircraft carriers have wings that come out underwater to help stabilize the carrier as well as gyroscopic dampeners
They're the most stable ships in existence currently, if I know correctly
Likewise cruise ships.
Note this is only non-american carriers. The Nimitz class in the video is only stabilized by just being fucking giant and heavy. The issue is that the model is too light, plus waves aren't to scale. On the real deal the deck is about 60 feet above the water. That's right under the max size of any recorded rouge wave, so the likelyhood of a wave cresting over the deck if a Nimitz is near zero.
largish recreational boats have the stabilizers and I have seen a gyro based one on boats as small as 27' What this video is showing is basically like the Seakeeper.
Cruise ships 2
As soon as I saw you set that flywheel on top of it. I just immediately pictured everything at scale and it gave me a really good laugh 🙂
Clearly a ferri wheel would be a good addition to the nimitz class.
I'm sure it won't impact take off and landing procedures at all.
@@CriticoolHit suuuuuuuuure
Same XD I'm imagining a wayward plane going through it and making the same noise a leaf makes when it gets sucked into an oscillating fan
This video was 4 minutes long because for once something worked exactly the way it was supposed to. Keep up the fine work good sir!
"Will it capsize? No it won't because we have a reaction wheel B"
hahahah. Already thought I was the only one who heard that 😄
He's providing us that "itch" to create something 😎
@@vsci79 Nah. He gave the "B". We need to provide the "itch".🤓
CYKA
Internal solution:
Two reaction wheels, each one only spinning in one direction. Because they have to be smaller, you can have two and improve the response by them not having to stop and speed up the other way but only accelerate. They would have an idle speed instead of full stop and just speed up to create the stabilization effect in the direction required.
contra-rotating ones still get fully saturated and have to de-spin. and if they're not mounted next to each other, they'll exert a yaw torque along the length of the ship
@@recurvestickerdragon no, they dont have to "de-spin". You mount them inline, they have a certain idle rpm and there will be no yaw induced for that exact reason.
This brought back memories long lost. I once worked on the design of a reaction wheel for an FPSO (~450,000t tanker conversion to FPSO) almost 20 years ago, to control roll for improved seakeeping. The wheel was massive and to be installed inside the vessel.
what's fpso?
@@NoNameAtAll2 Floating Production Storage and Offloading unit. It's a huge vessel permanently moored on top of oil production wells in deep waters, which is capable of receiving and processing the oil and gas, separate one from the other, store the oil and then offload it to shuttle tankers which then transport the oil directly to the national or international customer.
For your electronics, in wet environments, use solar panel bits. Like the roof pass-through boxes and bulkhead fittings. They're perfectly sized for small electronics and waterproof. $ is ok too, not too much.
1:41 "This aircraft carrier is so stable, you could land any plane on that thing"
Meanwhile the Boat: *boing boing boing*
Where do I get that GPS hold Apache that he was using?
@@KandiKlover Asking the real questions here
@@KandiKlover true
Stability on surface ships does not normally rely on the centre of gravity being below he centre of buoyancy. The stabilizing effect comes from the centre of buoyancy moving faster outwards than the centre of gravity when the ship heels over.
What does this mean
@@BartJBols It means ships are only stable below a certain roll angle.
@@BartJBols That stability is mostly created by the hull shape, not by a big honking heavy keel dangling under it. With the consequence @nerdyengineer7943 mentions: such a ship won't right iself once capsized. Simplest example: a catamaran: very stable around the neutral, but once you tip it over, it will remain upside down.
That makes a lot of sense actually
You should set the reaction wheel to spin at a relatively high speed and then adjust that speed up or down to control for roll axis, while the high speed acts as a passive gyro which would stabilize the pitch axis.
Came here looking for this comment, well put!
That would mean it could get saturated pretty quickly though, if it built up too much speed the direction it was already turning
With a long ship like this, maybe a smoother option would be two or three smaller wheels, one towards front, one mid and one back. Could probably also better control pitch/twist correction that way.
I wonder also if you had them mounted closer to your center of gravity what kind of change it would do. And is the change better with a large flywheel were multiple small flywheels.
Smaller reaction wheels are (practically, not theoretically) less effective for the weight of the wheel. That's one downside.
@@roboman2444You'd need more speed instead, but you could mount the system under deck.
and they'll exert a torque that makes the ship yaw more easily in one direction than the other
The gyro wheels inside those RC motorcycles work great to stabilize a boat to.
Yes, they do. Used in RC race boats and scale models ships.
Maybe turn the reaction wheel 90 degrees, so the spin axis is vertical. Then spin it up and leave it spun up, for damping in the pitch and roll axes.
Yeah, that's what I don't get - why reaction wheel this? Logically an Anti-rolling gyro would work better.
KISS principle always
@@smalltime0 well, there's possible problems from that, I just haven't seen it tried. Let's say that the net roll torque (because waves aren't symmetrical and you spend more time on one side of the wave). Then you have a net roll torque on the vessel, which because of the gyro, causes a net pitch on the vessel. This pitch will be resisted by the buoyancy and also by the gyro, creating another roll, I think in the opposite direction. So I think this will set up a very definite oscillation that just looks like precession, except it will be a factor of 3 to 10x larger oscillation in roll. I mean, it is SIMPLE, yeah. but the stability is questionable. I was mainly wanting to be entertained.
Great video. The wheel is a little impractical for large vessels. You could try using a push pull weight on a slide rod, attached to either a cable or belt inside the vessel. You can use one for pitch as well as roll. It would mean two sets of electronics, but it would stabilize the ship so you can land the Apache! lol
Marine engineer student here. At 2:13 you say it has some natural stability because the center of gravity is below the center of buoyancy, but that actually not necesarry to be stable. What´s important is the "metacenter height", which is a result of how the center of buoyancy shifts to the side when the ship leans over. Nearly no ships has a center of gravity below the center of buoyancy, both because it´s geometrically tricky to get such a low center of gravity, but also because the ship will get very twitchy if the distance between the metacenter height and the center of gravity is too long.
I'm sure a gyro would be much much better than a reaction wheel, that would be interesting too! Just spin it up, and use a servo to yaw it left and right, which will result in a roll torque.
ODrive makes some awesome stuff, been following them for several years now, I have a ton of ideas, but have never gotten to actually using them in a project yet.
A new video from your channel is like my hit of crack now
Fren!
Great addition,thats a definite improvment. I'm making a reaction wheel Odrive cubli just now so wonderful to see the relative sizes of your parts and the effect.
Use a fast spinning flywheel parallel with the boat, and then rock it back and forth to counteract roll. Seakeeper makes these for fishing boats and yachts
Neat, a diy rc seakeeper
I think several smaller wheels could go on the inside, closer to the axis of rotation could be more effective. They would also help preserve the look of the carrier.
and to compensate for the smaller wheels' lower mass, they could be cylinders instead of flat.
When I saw how stable it was, I thought it would be cool to try and land something on it.
Then, it looked like you want to land a heli on it. I'm now subbed.
Doesn't matter if you do or dont land something on it man,... I just like the way you think.
For the section at 2:10, it would've been cool to see a 2x2 of the footage we see now on the left, and the same two bits but stabilized on the horizon instead on the right
I love the 747 size helicopter trying to land on the aircraft carrier. That would be super cool at scale.
On big boats they mount a flywheel at 90 degrees but have it free to rotate on both axis.
So when the boat rolls the gyro tries to yaw and similar for pitch.
I think this results in dampening both roll and pitch
Then by using actuators to move the flywheel in yaw they can create a roll reaction.
I think the advantage of this is
You're so smart, Daniel! This very short video is very fun to watch!
We had a seakeeper gyro in one of our boats, and it uses a fast spinning weight spinning horizontally (like the old fashion spinning top) and then hydraulic piston to offset the roll to rotate the spinning top fore and aft. That way you still have all the torque available at anytime and it doesn't start and stop the flywheel. Although it will take almost an hour to spin up and reach full speed. Great job... 🤠👍
would love to see test with Gyroscopic effect. put it flat with max spinning speed. :D
roughly mathematically you can make your gyroscope half the size if you can either quadruple the speed with a half size wheel the same weight as yours here. or by quadrupling the weight of the wheel and keeping the speed the same (half size wheel as well). maintaining the angular momentum in different form factors.
“This ship is now unsinkable”.
Why? “Because it has been fitted with a reaction wheel.”
That reaction wheel sitting so far back on the deck is actually kicking the bow left and right.
Add another flywheel on the perpendicular axis. So it'll be locked more😂 It's a cool project thanks for sharing bro!
No good having an aircraft-carrier unless you land on it !!! ❤❤ go for it 😊
It looked like a propeller in the thumbnail but when you revealed the stabilizer I literally LOLd. Very cool!
The breadth and depth of your Engineering skills and knowledge is very impressive, and more awesome with each video.
I built the interfaces for Seakeepers for years. The amount they mitigated the rocking was pretty impressive.
This makes me wonder if you would have a better effect with a pair of counter rotating gyro wheels? The counter rotation would cancel out any yawing effect caused by them that could slowly translate in the water while still allowing the boat to turn freely. They could also be smaller, lighter and more easily mounted (one in bow, one in stern) yet still provide massive amounts of roll and pitch stability.
Just a single would be fine
@@nixer65 A single for the same effect would need to be larger and be more difficult to mount, plus it would create a rotational force (think of a helicopter) that would create a slow spin in the water thile the boat is stationary.
I made the same rc aircraft carrier out of a bath toy when I was a kid, this video is making me nostalgic
Slimming down the wheel and mount it internal could help.
Closer to center of gravity and lowering the center of gravity.
You might not even loose reaction wheel force by slimming down the wheel if the motor is fast enough to compensate for the smaller wheel.
Nerds like this is what made the Seattle area so great.
Maybe adding some "ailerons" would help too. Surely they would be less weight than the gyro and extra ballast. Maybe the lighter weight would make up for the extra drag?
This was a fun little project. Definitely cool to see the impact that wheel had
"Standard operating procedure is to put throttle to full on touchdown to allow for a go-around in the event of the hook missing the line. I _strongly_ recommend getting it on the first try on this one"
This would be a great platform to play with the ardupilot moving platform landing feature.
Adding an I coefficient to the PID control will eliminate the offset, as you suggested. Seems like it's time to add a reaction wheel in the longitudinal axis, too! Or maybe a reaction mass on a linear track within the hull?
I was thinking that too, but I actually don't think it would since he said he's using roll rates as the set point and feedback, not the angle of the ship. An I term would compensate for a steady state error in roll rate, but that's not really a thing that this system can have, since that would mean the ship was constantly rolling over.
The fly "wheel" doesn't need to be a wheel it could be a long rod with high mass at the point of buoyancy or a pendulum that hangs below the center of buoyancy.
For pitch or even roll you could also use a tube with bird shot in it that tilts to counter act rotation on ither access by tilting the tube. The tube would need to be slightly curved up so that the shot would want to go to the center of it but should work just fine. It would be on a stepper motor with limiters so it would tilt the tube and because the motor is fixed solid to the hull it would force it to remain upright
I don't think it's possible to cancel out steady-state error with a reaction wheel alone, the wheel would gradually spin up to maximum speed trying to counter whatever natural list the ship has.
Reaction wheels can't handle constant long-term forces in a single direction (like using one to take a ship that naturally lists and hold it upright), as they have a maximum amount of force they can apply in one direction by accelerating the wheel before the wheel hits maximum speed and can't accelerate in that direction anymore. The forces they're applying need to be balanced long-term, or you need a way of momentarily applying force to the vehicle in a specific direction so the wheel can unload the momentum it's accumulated.
Something like a control moment gyroscope would be able to counter natural steady-state list, as they rely on pushing around a spinning gyroscope at right angles to it's spin, instead of accelerating it faster or slower.
im actually currently building a miniature us csg so this video was pretty helpful
when I was aboard the Carl Vinson, a machinist mate buddy of mine was showing a new guy around, and when they passed once of the spinning prop shafts, he told him "and this is the ship's gyroscope. if you ever see this stopped, alert everyone immediately, cuz this top-heavy ship will flip right over without it"
I'd like to see you make the natural next evolution of this, with four smaller steel wheels mounted internally. One in the front, one in the back, and one on each side of the center of mass. Making them out of steel would mean they'd be much heavier so you could make them small enough to mount internally, but I'm sure there are cheaper metals you could use instead. Maybe brass? I used to do stuff like this in Besiege a lot when building my flying machines. The difference between no stabilization and four stabilization points was craaaazy.
What about mounting a spinning disc horizontally, to give passive roll and pitch stabilisation? Or maybe two smaller ones, rotating in opposite directions.
Interesting.
It reminded me of the gyro-wheel based roll damping devices installed on old aircraft carriers and small ships .
The stabilizer with reaction wheels was also an interesting video, as it showed that it was effective enough.
If it worked well with a large gyro, it could work well with multiple smaller installations.
Now make reaction wheels in both axis but using the same weight in tungsten, you might be able to fit the rig under the deck of the ship
I wonder if you could put some little bow thruster jets under the water line to help do the same thing but keep the runway open :)
This is so cool though. Looks like a fun hobby.
This was supposed to be our thesis in minimizing heeling factor in racing catamarans, our prof bonked us at that topic. Glad to see someone put it to test.
Edit: typo *faction* -> factor
Wouldn't that end up having to be impractically huge
@@taliesinriver...and that's why we fumbled that thesis.
@@harveylorenzedejesus2383 Ah I see haha
Reminds me of tuning enthalpy loops. Customers always asking why they cant get the exact enthalpy they want. You can hang steadily at a very small offset from setpoint, or have it see saw a bit above and below setpoint forever. They get brain cramp when explaining why.
Quick sponsor vid, nice. I respect the grind
You should build a mini seakeeper to test inside the boat, it'll be interesting to see if they work when you scale it down.
Scale ship bro's will be crying at this
boat stabilizers are so cool. they put them in actual fishing boats now too.
Nice, every boat house needs one 😄
I feel like that was a semi-accurate depiction of what would happen if both the ship and waves were scaled to the same proportion.
You should have placed it on the deck facing the other way and just had it continuously Spinning at a higher RPM to create a Gyro stabilization effect I think that would work way better
It needs the offset offset by a level sensor. A pendulum won't work for the same reason quads have problems with hanging loads. Centrifugal force is not going to be always down.
I WANT TWO REACTION WHEELS AND AN ACTIVE HYDROFOIL!!
That's excellent, thanks for showing that! Don't you just love Science and Engineering! You should be able to achieve the same effect with a smaller diameter flywheel hidden inside the hull, using a gearbox to get an equivalent referred inertia. You might also add some fore and aft stabiliser vanes underwater to help with the for and aft stabilisation which could also sort out the long term drift issue.
I wonder how big the flywheel would need to be to achieve noticeable for and aft stabilisation?
Oh look at this guy he has same ol' good transmitter LIKE A ME !😀
You have the most interesting stuff rattling around in your head.
If you put another one on it on the longitudinal axis, it will dampen out the rest of the roll from the waves.
If you put a third dampner on it in the 4th dimension, it will become so stable that it will land on itself.
Mounting a smaller steel or lead weighted reaction wheel within the hull would be really interesting
Please pay attention to the waterline mark. It is not for decoration. You are very bow high.
I mean he's not exactly going for realism here. As long as it doesn't sink or capsize I think he doesn't care too much
An aircraft carrier big enough to hide this within the hull would be super cool
Great work guys.
OK I did some visual scaling and for a full size carrier it would be approx 85m above the deck - about the same height as the superstrucure.
It would look pretty awesome out there in space meeting up with the Starship Enterprise. 🙂
After i watched this video this morning i can't stop thinking about it. I got to see if more is possible with this. Like installing 1 in the X axis and 1 in the Y axis in order to HYPER Stabilize a Ship. (Maybe start with a mid size ship. Something that rescue workers might use when battling Violent ocean waves?)
Was watching part one few hours ago, this is insane that u uploaded part two today.😍
You should add counter rotating flywheels that way it should be able to stabilize it better and be more efficient
Thanks for the Apache attempt.🤣
"one point five thousand dollar" nice
0:07 must be a made in china aircraft carrier ror
Would love to see another one fitted at 90 degrees to stabilise the boat in that axis too.
I hate to point out that the roll stabiliser is going to make landing just a little bit more complex.
Perhaps you need Ward Carroll to comment…
If you put winglets on a model boat with FPV on it and get it airborne, is it still a boat or plane? Daniel we miss your flying antics.
You mentioned the roll axis bias. As you already know, that is from the bias in the roll axis angulare rate sensor. I am assuming you are not using a expensive rate sensor and they typically have a bias. To fix this issue, run the angular rate sensor value through a high pass filter. This will eliminate the bias in the sensor. I would expect 2-4 second filter would work sufficiently. I have not mess with the microcontroller you are using but I am fairly sure, you can add the filter. I would start with a 2 second filter, 2s/(2s+1). If you do not know how to implement this, I can create the code to use as long I I know the frequency of the microcontroller. Nice thinking on how to stabilize the platform.
Would love to see this imbedded in the hull. Maybe a keel with side-to-side actuators to counteract for roll and even pitch dampening.
Install two smaller ones below deck- within the hull- and it would be awesome!
Very cool short video, also love longer format ones but this from time to time is awesome!!🎉
You fixed the aircraft carrier's tipping problem, but you forgot that it's supposed to be an aircraft carrier. it can no longer aircraft carry :(
It could still carry and launch aircraft, just not retrieve (except for VTOL)
Would definitely like to see multiple wheels integrated into the hull. Keep the weight as far down as possible. Having some pitch stabilization too would be super neat. Only problem is you'd need much smaller wheels, which would reduce the force they apply considerably.
i would try two high speed turning wheels rotating in opposite directions, controlling the counter-reaction forces by speed difference... just like spacecrafts do, just with the difference that friction and gravity will allow re-equalizing the speeds :D
Check out a product called Seakeeper. It’s a gyro that stabilizes ships. A small model would be cool
A padeye wrench will help you set that helo perfectly.
Try a continuously spinning, horizontal flywheel of the same size and mass. You can even put it inside the ship
The reaction wheel carrier would be almost useless in a war but it would sure impress the natives!
where's your music this time? it's the icing on the cake.
Check out control momentum gyroscopes. CMGs. You can build them smaller and get higher torques.
Try building the gryo stabiliser from the self balancing train and mount that!
(The Brennan monorail)
Should produce some really interesting results mounted on a boat🤔 not sure if that's ever been tried.
Good idea now miniaturize to fit within the hull
Ive done something similar when making boats in the game Stormworks, but i used big reaction masses on sliders within the hull
Counterintuitively a mass swinging above the center of gravity can make a boat more stable in transient roll. Sailboats with the mast broken off are less stable than those without, all other things being equal. Think of it in terms of a spinning figure skater pulling their arms in. Same principle.
I could imagine 1 longitudinal reaction ballast mounted under the deck right above the center of gravity, and 1 transverse near the rear would offer better stability and control with far lower complexity and weight.
Why didn’t you use a gyroscopic stabiliser? Can maintain your angular momentum by increasing speed and decreasing weight, mount it lower in the boat, and have it spin about the vertical axis so it dampens pitch and roll.
They do make gyroscope ship stabilizers that don't need micro controllers on the motor.