Stabilization arrangement for stabilization of an antenna mast

Abstract

A stabilization arrangement (10) for stabilizing an antenna mast (3), comprising an antenna mast (3) and a gyroscopic stabilizer device (12), wherein the gyroscopic stabilizer device (12) in turn comprises a flywheel (11), a flywheel axis (14), wherein the flywheel (11) is arranged about the flywheel axis (14), and a gimbal structure (13), wherein the flywheel (11) is suspended in the gimbal structure (13) and the gimbal structure (13) is configured to permit flywheel precession or tilting about at least one gimbal output axis (16). The gyroscopic stabilizer device (12) is fixedly arranged in connection to a first end portion (31) of the antenna mast (3) and the antenna mast (3) is fastenable to a supporting structure at a second end portion (32) of the antenna mast (3), wherein the gyroscopic stabilizer device (12) is configured to reduce movements in a plane perpendicular to the extension of the antenna mast (3).

Claims

1. A stabilization arrangement (10) for stabilizing an antenna mast (3), comprising an antenna mast (3), and a gyroscopic stabilizer device (12) comprising: a flywheel (11), a flywheel axis (14), wherein the flywheel (11) is rotatably arranged about the flywheel axis (14), and a gimbal structure (13), wherein: the flywheel (11) and the flywheel axis (14) are suspended in the gimbal structure (13), the suspension of the flywheel (11) and the flywheel axis (14) in the gimbal structure (13) permits flywheel precession about at least one gimbal output axis (16) different than the flywheel axis (14), the gyroscopic stabilizer device (12) is fixedly arranged in connection to a first end portion (31) of the antenna mast (3) and the antenna mast (3) is fastenable to a supporting structure at a second end portion (32) of the antenna mast (3), and the gyroscopic stabilizer device (12) is configured to reduce movements in a plane perpendicular to the extension of the antenna mast (3).

2. A stabilization arrangement (10) according to claim 1, wherein, when the flywheel (11) suspended in the gimbal structure (13) is in a resting position, the longitudinal direction of the flywheel axis (14) is essentially vertically directed, and the flywheel (11) is arranged to rotate perpendicularly thereto.

3. A stabilization arrangement (10b, 10c, 10d) according to claim 1, wherein the gimbal structure (13b) is configured to permit flywheel precession about two gimbal output axes (16a, 16b).

4. A stabilization arrangement (10) according to claim 1, wherein the at least one gimbal output axis (13) is provided with locking and unlocking functionality.

5. A stabilization arrangement (10) according to claim 1, wherein the at least one gimbal output axis (16a) is provided with a motor device (19) connected to the gimbal output axis (16a), whereby by means of the motor device (19) the precession about the gimbal output axis (16a) may be actively controlled.

6. A stabilization arrangement (10) according to claim 5, wherein the active control of the precession about the gimbal output axis (16a), by means of the motor device (19), is based on sensor input.

7. A stabilization arrangement (10a) according to claim 6, wherein the sensor input is provided by means of a sensor (4), wherein the sensor (4) used is an accelerometer or an anemometer.

8. A stabilization arrangement (10a) according to claim 6, wherein the sensor (4) is arranged at the antenna mast (3).

9. A stabilization arrangement (10) according to claim 5, wherein the active control enabled by means of the motor device (19) and at least one sensor (4) is configured to actively counteract that the antenna mast (3) oscillates.

10. A stabilization arrangement (10) according to claim 5, wherein the antenna mast (3) is provided with a rotating radar surface (2), and wherein the motor device (19) is configured to be controlled in direct proportion to the rate of rotation of the rotating radar surface (2).

11. A stabilization arrangement (10) according to claim 5, wherein the antenna mast (3) is provided with a rotating radar surface (2), and wherein the stabilization arrangement (10) is provided with a sensor (4) in form of an anemometer (4), and wherein the motor device (19) is configured to be controlled by taking into account: the rate of rotation of the rotating radar surface (2), and the wind speed measured by means of the anemometer (4).

12. A stabilization arrangement (10) according to claim 1, wherein the gyroscopic stabilizer device (12) further comprises a housing (18), wherein the housing (18) is configured to at least partly enclose the flywheel axis (14), the flywheel (11) and the gimbal structure (13).

13. A stabilization arrangement (10) according to claim 1, wherein the stabilization arrangement (10) further is provided with a gyroscopic stabilizer failure warning device (40), wherein the gyroscopic stabilizer failure warning device (40) is configured to detect if the operations of the gyroscopic stabilizer device (12) fails.

14. A method for counteracting oscillations of an antenna mast (3), wherein the antenna mast (3) is provided with a stabilization arrangement (10) according to claim 7, and wherein the method comprises the method steps of: collecting sensor data by means of the sensor (4), determining how precessive torque can be applied to at least one gimbal output axis (16) in order to counteract that the antenna mast (3) oscillates based on collected sensor data, and applying determined precessive torque to the at least one gimbal output axis (16) by means of the motor device (19), whereby oscillations of the antenna mast (3) is counteracted.

15. A method for counteracting oscillations of an antenna mast (3), wherein the antenna mast (3) is provided with a stabilization arrangement (10) according to claim 5, wherein the antenna mast (3) is provided with a rotating radar surface (2), and wherein the method comprises the method steps of: collecting information regarding the current rate of rotation of the rotating radar surface (2), and controlling the motor device (19) in direct proportion to the rate of rotation of the rotating radar surface (2) by applying precessive torque to the at least one gimbal output axis (16) by means of the motor device (19), whereby oscillations of the antenna mast (3) is counteracted.

16. A method for counteracting oscillations of an antenna mast (3), wherein the antenna mast (3) is provided with a stabilization arrangement (10) according to claim 7, wherein the antenna mast (3) is provided with a rotating radar surface (2), and wherein the stabilization arrangement (10) is provided with a sensor (4) in form of an anemometer, and wherein the method further comprises the additional method steps of: measuring the current wind speed by means of the anemometer, and controlling the motor device (19) in proportion to the rate of rotation of the rotating radar surface (2) and the current wind speed by applying precessive torque to the at least one gimbal output axis (16) by means of the motor device (19), whereby oscillations of the antenna mast (3) is counteracted.

17. A gyroscopic stabilizer device (12) for use in a stabilization arrangement (10), the stabilization arrangement (10) comprising an antenna mast (3) and the gyroscopic stabilizer device (12), the gyroscopic stabilizer device (12) being fixedly arranged directly to, or in connection to, the antenna mast (3), the gyroscopic stabilizer device (12) comprising: a flywheel (11), a flywheel axis (14), wherein the flywheel (11) is rotatably arranged about the flywheel axis (14), a flywheel drive motor (19), wherein the flywheel drive motor (19) is configured to spin the flywheel (11) around the flywheel axis (14), and a gimbal structure (13), wherein the gimbal structure (13) permits flywheel precession about at least one gimbal output axis (16) different than the flywheel axis (14), wherein: the gyroscopic stabilizer device (12) is arranged at a first end portion (31) of the antenna mast (3) and the antenna mast (3) is fastenable to a structure at a second end portion (32) of the antenna mast (3), and the gyroscopic stabilizer device (12) is configured to reduce movements in a plane perpendicular to the extension of the antenna mast (3).

18. A stabilization arrangement (10) for stabilizing an antenna mast (3), comprising an antenna mast (3), and a gyroscopic stabilizer device (12) comprising: a flywheel (11), a flywheel axis (14), wherein the flywheel (11) is rotatably arranged about the flywheel axis (14), and a gimbal structure (13), wherein: the flywheel (11) and the flywheel axis (14) are suspended in the gimbal structure (13), the gimbal structure (13) is configured to permit flywheel precession about at least one gimbal output axis (16), the gyroscopic stabilizer device (12) is fixedly arranged in connection to a first end portion (31) of the antenna mast (3) and the antenna mast (3) is fastenable to a supporting structure at a second end portion (32) of the antenna mast (3), the gyroscopic stabilizer device (12) is configured to reduce movements in a plane perpendicular to the extension of the antenna mast (3), and the at least one gimbal output axis (13) is provided with locking and unlocking functionality.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) With reference to the appended drawings, below follows a more detailed description of exemplary embodiments of the present invention.

(2) FIG. 1a discloses a first schematic view of a vehicle provided with a first exemplary embodiment of a stabilization arrangement,

(3) FIG. 1b discloses a second schematic view of a vehicle provided with a first exemplary embodiment of a stabilization arrangement,

(4) FIG. 2a, FIG. 2b and FIG. 2c disclose schematic views of exemplary embodiments of stabilization arrangements,

(5) FIG. 3a and FIG. 3b disclose schematic views of an exemplary embodiment of a 1 DOF gyroscopic stabilizer device, and

(6) FIG. 4a and FIG. 4b disclose schematic views of an exemplary embodiment of a 2 DOF gyroscopic stabilizer device.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS

(7) The following description of exemplary embodiments of the present invention is presented only for purposes of illustration and should not be seen as limiting. The description is not intended to be exhaustive and modifications and variations are possible in the light of the above teachings, or may be acquired from practice of various alternative embodiments of the present invention. The examples discussed herein were chosen and described in order to explain the principles and the nature of various example embodiments and its practical application to enable one skilled in the art to utilize the exemplary embodiments in various manners, and with various modifications, as are suitable for the particular use contemplated. It should be appreciated that the aspects presented herein separately may be practiced in any combination with each other unless otherwise explicitly is stated.

(8) Reoccurring reference signs refer to corresponding elements throughout the detailed description. When herein using reference signs indexed with a letter what is referred to is an exemplary embodiment of a feature that may be configured differently according to the present disclosure.

(9) FIG. 1a discloses a first schematic view of a vehicle 1 provided with a first exemplary embodiment of a stabilization arrangement 10a. The vehicle 1 is provided with vehicle supporting means 5 in form of outriggers. The stabilization arrangement 10a comprises an antenna mast 3, according to FIG. 1a in form of an extendable, articulate arm, and a gyroscopic stabilizer device 12a. The gyroscopic stabilization device 12a is arranged, by means of a connection arrangement 6, to a first end portion 31 of the antenna mast 3, and a second end portion 32 of the antenna mast 3 is arranged to a supporting structure, in FIG. 1a in form of the vehicle 1. The gyroscopic stabilizer device 12a in turn comprises a flywheel 11 arranged about the flywheel axis (not visible), a flywheel drive motor 15, in FIG. 1 in form of a stator/rotor motor, and a gimbal structure 13a. The flywheel 11 is configured to spin around the flywheel axis and the flywheel drive motor 15 is configured to at least initiate the spinning of the flywheel 11. The gyro effect provided by the spinning flywheel 11 will be discussed more in detail later on.

(10) In FIG. 1a a gimbal structure 13a with one degree of freedom (1 DOF) is disclosed wherein the gimbal structure 13a has a first gimbal output axis 16a. Referring to the systems of coordinates indicated in FIG. 1a, the first gimbal output axis 16a in FIG. 1a is directed in parallel to an indicated Z-axis, perpendicular to an indicated Y-axis and an indicated X-axis, and is therefore just indicated by a circle, representing the axis in cross section. (Please see FIGS. 3a and 3b for further clarification.) The flywheel 11 is suspended in the gimbal structure 13a, whereby the gimbal structure 13a is configured such that the flywheel 11, including flywheel axis and flywheel drive motor 15, are tiltable around the first gimbal output axis 16a. Such movement is herein generally referred to as precession, and is not limited to refer to movements around one axis.

(11) The gyroscopic stabilizer device 12a is enclosed by a housing 18. A rotating radar surface 2, such as e.g. a radar antenna, is arranged to the housing 18 by a rotation arrangement 17, enabling mechanical rotation of the rotating radar surface 2, and thereby enabling the radar antenna to transmit and receive electromagnetic waves in 360 degrees. The stabilization arrangement 10a is further provided with a sensor 4, preferably in form of an accelerometer or an anemometer.

(12) Antenna masts, such as the extendable, articulate arm disclosed in FIG. 1a, are exposed to significant forces due to continuous wind and/or wind gusts. If provided with a rotating radar surface the antenna mast is additionally exposed to oscillating forces as the surface exposed to wind varies with the rotations of the rotating radar surface. This may cause the mast to self-oscillate. Self-oscillation makes the top of the mast to move periodically, whereby the performance of e.g. a radar arranged at the top of the mast will be severely deteriorated, and, if not counteracted, may lead to that the mast eventually breaks. The self-oscillating problem may e.g. be addressed by using thicker and/or stronger goods, by strengthening the fastening arrangements of the antenna mast or, if the antenna mast is arranged on a vehicle, by providing the vehicle with vehicle supporting means.

(13) Due to the presence of the gyroscopic stabilizer device 12a, comprising the spinning flywheel 11, a gyroscope is formed providing a gyro effect. Due to the gyro effect forces acting to equalize the movements of the antenna mast 3 will be formed whereby essentially lateral movements, such as oscillations, of the antenna mast 3 are counteracted and thereby that the antenna mast 3 goes into self-oscillation is counteracted.

(14) It is desirable to arrange the gyroscopic stabilizer device 12a as close to the source of movements/oscillations as possible, thus preferably as close to the rotating radar surface 2 as possible. It is also preferable that, when in a resting position, the longitudinal direction of the flywheel axis coincides with the imaginary longitudinal axis of the antenna mast 3, wherein the gyroscopic moment acts symmetrically with the neutral line of the antenna mast 3.

(15) In FIG. 1a the flywheel 11 is arranged in a first position in which the flywheel 11 is essentially parallel to a horizontal plane extending in the direction of the X-axis. This position is herein referred to resting position. FIG. 1b discloses a second schematic view of a vehicle 1 provided with a first exemplary embodiment of a stabilization arrangement 10a, wherein in FIG. 1b the flywheel 11 is tilted an angle A around the first gimbal output axis 16a, referred to as inclination angle, in relation to the position of the flywheel 11 of FIG. 1a.

(16) Please note that the suspended flywheel 11 is also capable of tilting in a direction opposite to A as is indicated by the inclination angle B.

(17) The stabilization arrangement 10a may be either passive or actively regulated. For a passive stabilization arrangement the gyro effect alone provided by the spinning flywheel 11 suspended in the gimbal structure 13a counteracts the movements of the antenna mast 3. The flywheel 11 is configured to tilt freely around the first gimbal output axis 16a, as is indicated by the inclination angles A and B of FIG. 1b. Tilting the flywheel 11 has the effect that the stabilizing effect provided by the stabilization arrangement 10a may be even more significant, thus lateral movements of the antenna mast may be even more efficiently counteracted.

(18) For active control of an actively regulated stabilization arrangement e.g. input from the sensor 4, such as an accelerometer or an anemometer, can be used to further enhance the dampening gyro effect provided by the spinning flywheel 11 of the stabilization arrangement 10a. The active control may also be based on other input such as the rate of rotation of the rotatable radar surface 2. By controlling the movements, i.e. the tilting, of the flywheel 11 around the first gimbal output axis 16a, as is disclosed in FIG. 1b, the effect of the gyro effect equalizing forces acting against the movements of the antenna mast 3 may be actively supported, whereby the dampening effect will be improved. This will further prevent the antenna mast 3 form going into self-oscillation.

(19) The movements of the flywheel 11 around the first gimbal output axis 16a can be controlled by means of a motor device (not visible in FIGS. 1a and 1b). It may also be possible to control the movements of the flywheel 11 around the first gimbal output axis 16 by means of a precession brake (not visible in FIGS. 1a and 1b), singly or in combination with a motor device.

(20) However, during certain circumstances, such as e.g. at varied and unpredictable wind gusts giving rise to fast and rapidly changing transients, passively regulated stabilization arrangement may be preferable.

(21) Please note that the stabilization arrangement 10a according to FIG. 1a and FIG. 1b is necessarily not depicted according to scale. FIG. 1a and FIG. 1b is first and foremost provided in order clearly disclose a first exemplary embodiment of a stabilization arrangement 10a according to the present invention. In FIG. 1b the sensor 4 is differently positioned than in FIG. 1a. In FIG. 1a is also an exemplary positioning of a schematically indicated gyroscopic stabilizer failure warning device 40 disclosed.

(22) FIG. 2a, FIG. 2b and FIG. 2c disclose schematic views of exemplary embodiments of stabilization arrangements 10b, 10c, 10d.

(23) The stabilization arrangement 10b according to FIG. 2a comprises two gyroscopic stabilizer devices 12b, one arranged at a first side in X-direction of the connection arrangement 6, and one arranged at a second side in X-direction of the connection arrangement 6.

(24) The stabilization arrangement 10c according to FIG. 2b also comprises two gyroscopic stabilizer devices 12b, one arranged at a first side in Z-direction of the connection arrangement 6, and one arranged at a second side in Z-direction of the connection arrangement 6.

(25) The stabilization arrangement 10d according to FIG. 2c comprises just one gyroscopic stabilizer device 12b, arranged at one side in Z-direction of the connection arrangement. Please note that in FIG. 2b the antenna mast 3 is comprises just one leg, which is the most common embodiment of the antenna masts disclosed herein. In FIG. 2c is however also shown that the antenna mast 30 may comprises two legs.

(26) FIG. 2a, FIG. 2b and FIG. 2c, together with FIG. 1a, are intended to clarify that the number of, and positioning of, gyroscopic stabilizer devices 12 of a stabilization arrangement 10 according to the present invention may be different for different embodiments. What determines the number of, and positioning of, gyroscopic stabilizer devices 12 is e.g. the current implementation of the stabilization arrangement 10, which e.g. is decisive for weight and volume restrictions, cost, required performance of the radar antenna and first and foremost the configuration, e.g. in terms of flywheel size/weight and flywheel spin velocity. All embodiments explicitly disclosed herein, and also other implicitly disclosed embodiments which are obvious for the skilled person when consulting the herein presented information, are considered to the within the scope of the present invention.

(27) The gimbal structures 13b of FIG. 2a, FIG. 2b and FIG. 2c all have two degrees of freedom (2 DOF), wherein respective gimbal structure 13b has a first gimbal output axis 16a and a second gimbal output axis 16b. For FIG. 2a the first gimbal output axis 16a is directed in parallel to the Z-axis, perpendicular to Y-axis and an indicated X-axis, and is therefore just indicated by a circle. The second gimbal output axis 16b is directed in parallel to the X-axis and perpendicular to the Y-axis. For FIG. 2b and FIG. 2c the first gimbal output axis 16a is directed in parallel to the Z-axis, perpendicular to Y-axis and an indicated X-axis. The second gimbal output axis 16b is directed in parallel to the X-axis and perpendicular to the Y-axis, and is therefore just indicated by a circle. The 2 DOF gimbal structure 13b will be disclosed more in detail below and in relation to FIG. 4a and FIG. 4b.

(28) In accordance to FIG. 1a and FIG. 1b, please note that neither the stabilization arrangements 10b, 10c, 10d of FIG. 2a, FIG. 2b and FIG. 2c necessarily are depicted according to scale.

(29) For 2 DOF stabilization arrangements 10b, 10c, 10d the suspended flywheel 11 is free to move around, what herein generally is referred to as tilt or precession, both the first gimbal output axis 16a and the second gimbal output axis 16b. A rotating suspended flywheel 11 will always strive to be essentially horizontally oriented, and in a 2 DOF system the flywheel 11 can compensate for movements of the structure to which the stabilization arrangement stabilization arrangement 10b, 10c, 10d comprising the flywheel 11 is arranged, in two directions.

(30) In a 1 DOF stabilization arrangement system the flywheel 11 will only be able to compensate for movements in one direction, the direction perpendicular to the gimbal output axis of the 1 DOF system.

(31) The stabilizing effect due to the gyro effect provided by the stabilization arrangements 10b, 10c, 10d is most effective when the flywheel 11 of the stabilization arrangements 10b, 10c, 10d is rotating essentially in the horizontal plane.

(32) The 2 DOF stabilization arrangements 10b, 10c, 10d may either be passive systems or actively controlled systems. Actively controlled systems may be preferable during certain conditions since by actively controlling the tilting of the flywheel 11 around a gimbal output axis the stabilizing or dampening gyro effect provided by the spinning flywheel 11 possibly can be enhanced. However, during other conditions, such as at varied and unpredictable wind gusts giving rise to fast and rapidly changing transients, a passive system might actually be preferable. A passive system, without the need of sensors, may e.g. be less expensive. Active control is preferably enabled by means of using input from a sensor, such as e.g. an accelerometer or an anemometer.

(33) As will be discussed more in detail later on, and as e.g. is shown in FIG. 3b, the active control is enabled by means of a motor device, such as a servomotor or a hydraulic motor, and possibly also by means of a precession brake.

(34) At least one of the first gimbal output axis 16a and second gimbal output axis 16b may further be provided with a locking and unlocking functionality (not visible). The locking functionality is configured to lock the tilting of the suspended flywheel 11 around respective gimbal output axis 16a, 16b. Prevent the flywheel 11 from tilting around the first and/or second gimbal output axes 16a, 16b can e.g. be desirable during transport or when the antenna mast is raised or lowered.

(35) Referring now to FIG. 3a and FIG. 3b, disclosing schematic views of an exemplary embodiment of a 1 DOF gyroscopic stabilizer device 12a. FIG. 3a shows a 3D image disclosing a gyroscopic stabilizer device 12a comprising a flywheel 11, arranged to spin around a flywheel axis 14, and a 1 DOF gimbal structure 13a, having a first gimbal output axis 16a. The flywheel 11 is suspended in the 1 DOF gimbal structure 13a whereby the suspended flywheel 11 can be tilted around the first gimbal output axis 16a, as is indicated by the possible inclination angle range rA, disclosing how the suspended flywheel 11 is tiltable around the first gimbal output axis 16a.

(36) FIG. 3b shows the gyroscopic stabilizer device 12a arranged in a housing 18 from a cutaway side view. The gyroscopic stabilizer device 12a according to FIG. 3b is an actively controlled gyroscopic stabilizer device 12a provided with a motor device 19 and a precession brake 20. The motor device 19 can be used to actively control the gyro effect provided by the gyroscopic stabilizer device 12a by rotating the gyroscopic stabilizer device 12a around the first gimbal output axis 16a whereas the precession brake 20 can be used to actively control the gyro effect provided by the gyroscopic stabilizer device 12a by braking the rotation of the gyroscopic stabilizer device 12a around the first gimbal output axis 16a.

(37) According to the schematic view of the gyroscopic stabilizer device 12a of FIG. 3b the flywheel drive motor 15 is arranged at one end of the flywheel axis 14 and includes a stator 21 fastened to the enclosure and a rotor 20 fastened to the flywheel axis 14. However, various forms of motors may be used as the flywheel drive motor 15.

(38) The exemplary embodiment of FIG. 3b is provided with both a motor device 19 and a precession brake 20, but a system provided with either just a motor device 19 or a precession brake 20 will also be an actively controlled system, however, at least if just provided with a precession brake 20, to a lesser extent. The motor device 19 may e.g. be a servomotor or a hydraulic motor.

(39) The rotation of the flywheel 11 around the first gimbal output axis 16a, thus the orientation of the flywheel 11, affects the dampening gyro effect provided by the spinning flywheel 11. Thus, by controlling the orientation of the flywheel 11 the dampening effect the gyroscopic stabilizer device 12a has on movements or oscillations, such as self-oscillation, of the antenna mast can be enhanced. How the motor device 19 and/or the precession brake 20 are used to actively control the orientation of the flywheel 11 may be based on input from a sensor such as an accelerometer or an anemometer.

(40) FIG. 4a and FIG. 4b, discloses schematic views of an exemplary embodiment of a 2 DOF gyroscopic stabilizer device 12b. FIG. 4a shows a 3D image disclosing a gyroscopic stabilizer device 12b comprising a flywheel 11, arranged to spin around a flywheel axis 14, and a 2 DOF gimbal structure 13b, having a first gimbal output axis 16a and a second gimbal output axis 16b. The flywheel 11 is suspended in the 2 DOF gimbal structure 13b whereby the suspended flywheel 11 can be tilted around the first gimbal output axis 16a and around the second gimbal output axis 16b, as is indicated by the possible inclination angle range rA, disclosing how the suspended flywheel 11 is tiltable around the first gimbal output axis 16a, and as is indicated by the possible inclination angle range rB, disclosing how the suspended flywheel 11 is tiltable around the second gimbal output axis 16b.

(41) FIG. 4b shows the gyroscopic stabilizer device 12b from a cutaway side view. The difference between the gyroscopic stabilizer device 12a of FIG. 3b and of the gyroscopic stabilizer device 12b of FIG. 4b is that for a 2 DOF gyroscopic stabilizer device the spinning flywheel 11 is tiltable around both first gimbal output axis 16a and a second gimbal output axis 16b, which provides possibility to counteract movements of the antenna mast both in, using the coordinate system indicated in FIGS. 4a and 4b respectively, X-direction and Z-direction.

(42) As previously discussed, the rotation of the flywheel 11 around the first gimbal output axis 16a and the second gimbal output axis 16b, thus the orientation of the flywheel 11, affects the dampening gyro effect provided by the spinning flywheel 11.

(43) The exemplary embodiments of gyroscopic stabilizer devices 12a, 12b disclosed in FIG. 3a, FIG. 3b, FIG. 4a and FIG. 4b examples of how the gyroscopic stabilizer device of a stabilization arrangement according to the present invention may be configured, and FIGS. 3a, 3b, 4a and 4b are necessarily not depicted to scale.