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32 A. TUNÇER, G.T. TAYYAR and Y. ÜNSAN

motor driver chipset or motor driver shield and three sensors (GPS, accelerometer and
gyroscope) either combined or separate.

To eliminate the “white noise” from the sensors, a filtering should be used during programming;
complementary filter, Mahony filter or Kalman filter can be used. Then these three sensors can
provide useful outputs such as; speed, acceleration, trim angle, roll or heel angle. With
mentioned data one can design and program an interceptor control system, furthermore, can
optimize it according to the boat characteristics for better results.

Furthermore, the system can be optimized with PID. Actuator position feedback is required for
exact positioning of the interceptor.

8. Conclusion

In conclusion, mechanical design and automatic control of an interceptor system can be done
according to aforementioned details. Important topics such as the interceptor blade area
calculation, or the ease of manufacturing, assembly and maintenance should be considered
during the design stage. For the control stage, even though there are many ways to create the
control system, motor controller system is one of the simplest ways. Further works may include
stabilizing vessel’s roll movements according to the readings from gyroscope, optimizing
interceptor stroke according to the trim angle or the vessel’s speed or even a complete
stabilizing system.

References

[1] Molland, Anthony F. The Maritime Engineering Reference Book. s.l. : Elsevier, 2008.

[2] Potgieter, Kobus. Articles. KND. [Online] October 7, 2006. [Cited: March 19, 2016.]
http://www.navaldesign.co.za/articles.html.

[3] Faltinsen, Odd M. Hydrodynamics of High-Speed Marine Vehicles. Cambridge : Cambridge
University Press, 2005.

[4] Volvo Penta. Powertrim Assistant. Volvo Penta. [Online] 2015. [Cited: March 20, 2016.]
http://www.volvopenta.com/volvopenta/na/en-
us/marine_leisure_engines/accessories/Trimsystems2/Pages/PTA.aspx.

[5] Emery, Charles E. Apparatus for regulating the rolling and pitching of vessels. 471,212
United States of America, 1892.

[6] Noll, Henry John. Adjustable fin for vessels. 767,827 United States of America, 1904.

[7] Anderson, Emil S. Extension attachment for boats. 2,576,744 United States of America,
1947.

[8] Herz, Johannes. Boat having pivotable underwater hydrofoils. 2,713,317 Germany, 1955.

[9] Bennett, Charles H. Trim attachment for power boats. 3,062,167 United States of America,
1962.

GiDB|DERGi Sayı 7, 2016