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ARG is applied to the excellent “Control Moment Gyro” Principle. If the rotated Gyro is inclined sideways, which generates the Gyro force to incline it toward the front and rear direction.
This is the principle of Gyro scope. Angular momentum H of ARG’s flywheel and roll angular velocity φ produce gyro torque Tg in accordance with the Gyro Principle. Tg = H × φ If damper C exists, Tg would rotate the gimbal with Angular velocity θ. θ = Tg ／C On the other side, H and θ produce suppression torque Ts also in accordance with the Gyro Principle. Ts = H x θ Then, Ts acts as suppression torque with proportional to boat rolling angular velocity φ. Ts = (H2 / C) x φ
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