Wavemaster: Innovations in Dynamic Weight Balancing For Boat
Keywords:
3D visualization, Feedback control loop, MATLAB, PID controller, Roll stability, Ship stability, Simulation, Weight balancingAbstract
This research addresses the fundamental problem of maintaining state equilibrium in marine vessels subjected to external, time-varying disturbances like waves a challenge where conventional passive methods often prove insufficient, especially at low speeds. Our work, titled “Wavemaster,” explores an active control methodology that achieves roll stability through the intentional reconfiguration of the system’s internal mass distribution. The viability of this dynamic weight-balancing approach is validated entirely through a comprehensive computational model developed in MATLAB.
The core of our approach is a PID-based feedback control loop that interprets real-time orientation data to direct an internal actuation mechanism. By strategically translocating an inertial mass, this mechanism generates precise, countervailing moments that effectively nullify external destabilizing forces. The efficacy of this control paradigm is validated within a synthetic, dynamic environment that features 3D visualization and interactive navigation. The system’s performance in attitude correction and disturbance rejection is quantitatively assessed through detailed graphical analysis, confirming the controller’s effectiveness. This work ultimately contributes a validated computational framework, providing a foundational testbed for the exploration and development of next-generation adaptive stabilization technologies.
References
T. Perez, Ø. N. Smogeli, T. I. Fossen, and A. J. Sørensen, “An overview of the marine systems simulator (MSS): A simulink toolbox for marine control systems,” Modeling, Identification and Control: A Norwegian Research Bulletin, vol. 27, no. 4, pp. 259–275, 2006, doi: https://doi.org/10.4173/mic.2006.4.4
M. Xie, P. Zhang, K. Wang, and H. Lei, “Research on attitude compensated algorithm for shipborne dynamic weighing,” Physica Scripta, vol. 98, no. 11, pp. 115032–115032, Oct. 2023, doi: https://doi.org/10.1088/1402-4896/ad01ef
Z. Wang et al., “Hardware-in-the-loop simulation and experimental system for process control of marine resources exploration,” 2024 43rd Chinese Control Conference (CCC), Kunming, China, 2024, pp. 7069-7074, doi: https://doi.org/10.23919/CCC63176.2024.10662577
O. Makarov, Hayato Yase, and T. Harada, “Implementation of interactive control of a crane ship model in MATLAB/Simulink environment,” Research Square (Research Square), Mar. 2023, doi: https://doi.org/10.21203/rs.3.rs-2693693/v1
Y. Zan, D. Han, L. Yuan, M. Liu, and Z. Wu, “Research on real-time simulation system of ship motion based on simulink,” The Open Mechanical Engineering Journal, vol. 8, no. 1, pp. 820–827, Dec. 2014, doi: https://doi.org/10.2174/1874155x01408010820
F. Kharroubi, M. Fertat, S. El Hassani, and H. Ouahmane, “Design, simulation and control of a marine ship model’s diesel engine using Python and Matlab/Simulink,” Manufacturing Technology, vol. 21, no. 4, pp. 483–491, Sep. 2021, doi: https://doi.org/10.21062/mft.2021.059
N. Abu, “Dynamic positioning, system identification and control of marine vessels based on Balchen model,” Openarchive.usn.no, 2024, Available: https://openarchive.usn.no/usn-xmlui/handle/11250/3134586
D. Xu, Z. Liu, X. Zhou, L. Yang, and L. Huang, “Trajectory tracking of underactuated unmanned surface vessels: Non-singular terminal sliding control with nonlinear disturbance observer,” Applied Sciences, vol. 12, no. 6, pp. 3004–3004, Mar. 2022, doi: https://doi.org/10.3390/app12063004
A. Dhyani et al., “AUTOBargeSim: MATLAB(R) toolbox for the design and analysis of the guidance and control system for autonomous inland vessels,” arXiv:2503.21594, Jun. 2025, Available: https://arxiv.org/abs/2503.21594
R. P. Saputra, E. J. Pristianto, M. Mirdanies, and D. Kurniawan, “Autonomous docking method via non-linear model predictive control,” arXiv:2312.16629v1, Dec. 2023, Available: https://arxiv.org/html/2312.16629v1
E. Uyar, A. T. Alpkaya, and L. Mutlu, “Dynamic modelling, investigation of manoeuvring capability and navigation control of a cargo ship by using Matlab Simulation,” IFAC-PapersOnLine, vol. 49, no. 3, pp. 104–110, 2016, doi: https://doi.org/10.1016/j.ifacol.2016.07.018
