Station keeping methods

• US 10,095,232 B1
• Filed: 02/28/2017
• Issued: 10/09/2018
• Est. Priority Date: 03/01/2016
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Arbuckle, Jason S., Kirchhoff, Thomas S., Andrasko, Steven J., Blackwood, Michael M., Gable, Kenneth G.
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US15/445,031
• Time in Patent Office: 588 Days
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate
• CPC Class Codes: B63B 2213/02 using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• CPC Class Codes: B63H 20/00 Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
• CPC Class Codes: B63H 2020/003 Arrangements of two, or more outboard propulsion units
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 2025/022 Steering wheels; Posts for steering wheels
• CPC Class Codes: B63H 2025/045 making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63H 25/02 Initiating means for steering , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: B63H 25/42 Steering or dynamic anchoring by propulsive elements by jets B63H25/46; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/0208 dynamic anchoring

Abstract

A method for maintaining position and/or heading of a marine vessel in a body of water includes accepting a command to maintain the vessel at an initial selected position and/or heading, and utilizing position/heading feedback control to determine initial steering angles, gear positions, and engine speeds for the vessel'"'"'s propulsion devices that cause the propulsion devices to produce thrust that counteracts a net external force and moment on the vessel and maintains the vessel at the initial selected position/heading. The method also includes propelling the vessel to a new selected position/heading, and accepting a command to maintain the vessel at the new selected position/heading. The method next includes utilizing information related to one of the position/heading feedback control and the propulsion devices'"'"' thrust to predict control parameters required to maintain the vessel at the new selected position/heading, and controlling the propulsion device according to the predicted control parameters.

Claims

1. A method for maintaining position of a marine vessel in a body of water, the vessel being propelled by a marine propulsion device powered by an engine, the method comprising:

accepting a command to maintain the vessel at an initial selected position;

utilizing position feedback control to determine an initial steering angle, an initial gear position, and an initial engine speed for the propulsion device that cause the propulsion device to produce a linear thrust vector that counteracts a net external force on the vessel and maintains the vessel in the initial selected position;

propelling the vessel to a new selected position;

accepting a command to maintain the vessel at the new selected position;

utilizing information related to one of the position feedback control and the linear thrust vector to predict control parameters required to maintain the vessel at the new selected position; and

controlling the propulsion device according to the predicted control parameters to maintain the vessel at the new selected position.

2. The method of claim 1, further comprising:

utilizing the information related to the linear thrust vector to calculate a new steering angle, a new gear position, and a new engine speed for the propulsion device that will result in the same linear thrust vector as was required to counteract the net external force on the vessel at the initial selected position; and

rotating the propulsion device to the new steering angle, placing the propulsion device in the new gear position, and causing the engine to rotate at the new engine speed to produce the same linear thrust vector.

3. The method of claim 2, further comprising automatically causing the propulsion device to produce the same linear thrust vector upon propelling the vessel to the new selected position and accepting the command to maintain the vessel at the new selected position, without first waiting for position feedback information at the new selected position.

4. The method of claim 3, further comprising:

determining an actual position of the vessel after propelling the vessel to the new selected position, rotating the propulsion device to the new steering angle, placing the propulsion device in the new gear position, and causing the engine to rotate at the new engine speed; and

using the position feedback control to adjust at least one of the new steering angle, the new gear position, and the new engine speed to minimize a difference between the actual position and the new selected position.

5. The method of claim 1, further comprising utilizing the information related to the position feedback control at the initial selected position to initialize feedback control terms to be used for the position feedback control at the new selected position.

6. The method of claim 5, further comprising using a thrust efficiency table to estimate the feedback control terms that will be used for the position feedback control at the new selected position.

7. The method of claim 1, further comprising accepting the command to maintain the vessel at the new selected position from a user input device, and subsequently propelling the marine vessel to the new selected position.

8. The method of claim 7, wherein the user input device is an electronic navigation device.

9. A method for maintaining orientation of a marine vessel in a body of water, the vessel being propelled by first and second marine propulsion devices powered by first and second engines, respectively, the method comprising:

accepting a command to maintain the vessel at an initial selected heading;

utilizing heading feedback control to determine initial steering angles, initial gear positions, and initial engine speeds for the first and second propulsion devices, respectively, which result in the first and second propulsion devices together producing a resultant moment about a preselected point on the vessel that counteracts a net external moment on the vessel and maintains the vessel at the initial selected heading;

rotating the vessel to a new selected heading;

accepting a command to maintain the vessel at the new selected heading;

utilizing information related to one of the heading feedback control and the resultant moment to predict control parameters required to maintain the vessel at the new selected heading; and

controlling the first and second propulsion devices according to the predicted control parameters to maintain the vessel at the new selected heading.

10. The method of claim 9, further comprising:

utilizing the information related to the resultant moment to calculate new steering angles, new gear positions, and new engine speeds for the first and second propulsion devices, respectively, that will result in the first and second propulsion devices together creating the same resultant moment as was required to counteract the net external moment on the vessel at the initial selected heading; and

rotating the first and second propulsion devices to the new steering angles, respectively, placing the first and second propulsion devices in the new gear positions, respectively, and causing the first and second engines to rotate at the new engine speeds, respectively, to produce the same resultant moment.

11. The method of claim 10, further comprising automatically causing the first and second propulsion devices to produce the same resultant moment upon rotating the vessel to the new selected heading and accepting the command to maintain the vessel at the new selected heading, without first waiting for heading feedback information at the new selected heading.

12. The method of claim 11, further comprising:

determining an actual heading of the vessel after rotating the vessel to the new selected heading, rotating the first and second propulsion devices to the new steering angles, placing the first and second propulsion devices in the new gear positions, and causing the first and second engines to rotate at the new engine speeds; and

using the heading feedback control to adjust at least one of the new steering angles, the new gear positions, and the new engine speeds to minimize a difference between the actual heading and the new selected heading.

13. The method of claim 9, further comprising utilizing the information related to the heading feedback control at the initial selected heading to initialize feedback control terms to be used for the heading feedback control at the new selected heading.

14. The method of claim 13, further comprising using a thrust efficiency table to estimate the feedback control terms that will be used for the heading feedback control at the new selected heading.

15. The method of claim 9, further comprising accepting the command to maintain the vessel at the new selected heading from a user input device, and subsequently rotating the marine vessel to the new selected heading.

16. The method of claim 15, wherein the user input device is a joystick.

17. The method of claim 9, further comprising:

accepting a command to maintain the vessel at an initial selected position while maintaining the initial selected heading;

utilizing position feedback control and the heading feedback control to determine the initial steering angles, the initial gear positions, and the initial engine speeds for the first and second propulsion devices, respectively, which result in the first and second propulsion devices together producing a resultant linear thrust vector that counteracts a net external force on the vessel and maintains the vessel in the initial selected position, and which result in the first and second propulsion devices together producing the resultant moment about the preselected point on the vessel that counteracts the net external moment on the vessel and maintains the vessel at the initial selected heading;

propelling the vessel to a new selected position while rotating the vessel to the new selected heading;

accepting a command to maintain the vessel at the new selected position while maintaining the vessel at the new selected heading;

utilizing information related to one of (a) the heading feedback control and the position feedback control, or (b) the resultant moment and the resultant linear thrust vector to predict control parameters required to maintain the vessel at the new selected heading and the new selected position; and

controlling the first and second propulsion devices according to the predicted control parameters to maintain the vessel at the new selected heading and the new selected position.

18. A method for maintaining position and orientation of a marine vessel in a body of water, the marine vessel being propelled by first and second marine propulsion devices powered by first and second engines, respectively, the method comprising:

determining initial steering angles, initial gear positions, and initial engine speeds for the first and second propulsion devices, respectively, which result in the first and second propulsion devices together producing a resultant linear thrust vector that counteracts a net external force on the vessel and maintains the vessel in an initial selected position, and which result in the first and second propulsion devices together producing a resultant moment about a preselected point on the vessel that counteracts a net external moment on the vessel and maintains the vessel at an initial selected heading;

propelling the vessel to a new selected position;

rotating the vessel to a new selected heading;

accepting a command to maintain the vessel at the new selected position and at the new selected heading;

calculating new steering angles, new gear positions, and new engine speeds for the first and second propulsion devices, respectively, that will result in the first and second propulsion devices together creating the same resultant linear thrust vector that was required to counteract the net external force on the vessel at the initial selected position and the same resultant moment that was required to counteract the net external moment on the vessel at the initial selected heading; and

rotating the first and second propulsion devices to the new steering angles, respectively, placing the first and second propulsion devices in the new gear positions, respectively, and causing the first and second engines to rotate at the new engine speeds, respectively, to produce the same resultant linear thrust vector and the same resultant moment and maintain the vessel at the new selected position and the new selected heading.

19. The method of claim 18, further comprising accepting the command to maintain the vessel at the new selected position and the new selected heading from a user input device, and subsequently propelling the vessel to the new selected position and rotating the vessel to the new selected heading.

20. The method of claim 18, further comprising propelling the vessel to the new selected position and rotating the vessel to the new selected heading, and subsequently accepting the command to maintain the vessel at the new selected position and at the new selected heading.