Design of a U-Tank antiroll system for a small boat

This thesis presents the design of a U-tank antiroll system for a small boat owned by the university, equipped with electronic instrumentation that operates better with optimal stability. Due to the vessel’s size and weight, roll stability is a serious concern, especially for all the electronic circuitry that isn't waterproofed. The proposed solution is an active stabilization system that uses a PID controller to operate two water pumps placed inside a U-shaped tank, counteracting the boat’s rolling motion in real time. The study includes a model of the vessel’s roll behavior, the definition of design parameters, and performance tests under various operating conditions. Special emphasis is placed on balancing functionality and energy efficiency, while ensuring a good degree of integration with the existing onboard systems. The rest of the devices are all connected together through the ROS2 operating sytem, so the controller needs to be implemented through a ROS2 node, enabling real-time feedback and coordination. The final design aims to enhance the vessel’s overall stability during both navigation and stationary phases, assuring that the rest of the equipment can operate at its maximum effectiveness.