Modeling and Parameter Estimation of Roll Stability of a Single-Rotor Boat Model

This paper presents experiments for determining the rotational stiffness coefficient kθ for water, and the restoring-force coefficient γθ of the gyroscopic moment. These parameters are based on non-autonomous basic equations derived from the autonomous roll-stability equation for a floating body, the wind force moment, and the gyroscopic moment of the Flettner rotor dynamics for a single-rotor boat model with various wind speeds from both the port and starboard sides in a small pool. The tilt angle of the rotor boat was measured with 3D accelerometers, and the restoration angle was computed. The nonlinearity of the stiffness coefficient was identified, and in a simulation, accurate results for roll stability were obtained.