Systems and methods for controlling vessel speed when transitioning from launch to cruise

• US 10,343,758 B2
• Filed: 08/31/2016
• Issued: 07/09/2019
• Est. Priority Date: 08/31/2016
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Andrasko, Steven J., Przybyl, Andrew J., Anschuetz, Steven M.
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/252,911
• Publication Number:
  US 20180057133A1
• Time in Patent Office: 1,042 Days
• Field of Search: 701 21
• CPC Class Codes: B63B 79/10 using sensors, e.g. pressure sensors, strain gauges or accelerometers
• CPC Class Codes: B63B 79/20 using models or simulation, e.g. statistical models or stochastic models
• CPC Class Codes: B63B 79/40 for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63J 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: Y02T 70/00 Maritime or waterways transport

Abstract

A method for controlling a speed of a marine vessel includes accelerating the marine vessel in response to a launch command. The method then includes holding the vessel speed at a desired vessel speed with a controller using feedback control. The controller phases in a derivative term of the feedback control in response to determining that the following conditions are true: (a) the vessel speed is within a given range of the desired vessel speed; and (b) an acceleration rate of the marine vessel is less than a given value.

Claims

1. A method for controlling a speed of a marine vessel, the method comprising:

accelerating the marine vessel in response to a launch command; and

holding the vessel speed at a desired vessel speed with a controller using feedback control;

wherein the controller phases in a derivative term of the feedback control in response to determining that the following conditions are true;

a. the vessel speed is within a given range of the desired vessel speed; and

b. an acceleration rate of the marine vessel is less than a given value.

2. The method of claim 1, wherein the given range varies proportionately with a magnitude of the desired vessel speed.

3. The method of claim 2, wherein the given value is substantially zero.

4. The method of claim 1, further comprising overshooting the desired vessel speed by a predetermined amount and subsequently decelerating the marine vessel to the desired vessel speed.

5. The method of claim 1, further comprising ramping in the derivative term at a predetermined rate with the controller.

6. The method of claim 1, further comprising:

controlling acceleration of the marine vessel with the controller using a first feedback control algorithm; and

holding the vessel speed at the desired vessel speed with the controller using a second, different feedback control algorithm.

7. The method of claim 6, wherein the controller uses a difference between a measured vessel speed and the desired vessel speed in order to calculate control terms used in the second feedback control algorithm.

8. A method for controlling a speed of a marine vessel as a propulsion controller of the marine vessel transitions from a launch mode to a cruise control mode, the method comprising:

determining when the propulsion controller has transitioned from the launch mode to the cruise control mode;

determining when an acceleration rate of the marine vessel is less than a given value;

in response to the propulsion controller transitioning from the launch mode to the cruise control mode and the acceleration rate being less than the given value, phasing a derivative term into a feedback control algorithm that the propulsion controller uses to control the vessel speed in the cruise control mode; and

thereafter maintaining a desired speed of the marine vessel in the cruise control mode with the propulsion controller.

9. The method of claim 8, wherein the propulsion controller transitions from the launch mode to the cruise control mode when the vessel speed is within a given range of the desired vessel speed.

10. The method of claim 9, wherein the given range varies proportionately with a magnitude of the desired vessel speed.

11. The method of claim 10, wherein the given value is substantially zero.

12. The method of claim 8, further comprising ramping the derivative term into the feedback control algorithm at a predetermined rate with the propulsion controller.

13. The method of claim 8, wherein:

the propulsion controller uses a first feedback control algorithm while in the launch mode; and

the propulsion controller uses a second, different feedback control algorithm while in the cruise control mode.

14. The method of claim 8, further comprising setting the derivative term to substantially zero in response to the propulsion controller transitioning from the launch mode to the cruise control mode and before phasing in the derivative term.

15. A system for controlling a speed of a marine vessel, the system comprising:

a first feedback controller controlling the vessel speed while the marine vessel is accelerating according to a launch mode;

a second feedback controller controlling the vessel speed while the marine vessel is maintaining a desired speed according to a cruise control mode; and

a propulsion device accepting inputs from the first and second feedback controllers and operating according to the inputs so as to propel the marine vessel in the launch mode or the cruise control mode, respectively;

wherein the second feedback controller phases in a derivative term in response to a determination that the system has transitioned from the launch mode to the cruise control mode and that an acceleration rate of the marine vessel is less than a given value.

16. The system of claim 15, wherein the system transitions from the launch mode to the cruise control mode in response to the vessel speed being within a given range of the desired vessel speed.

17. The system of claim 16, wherein the given range varies proportionately with a magnitude of the desired vessel speed.

18. The system of claim 15, wherein the given value is substantially zero.

19. The system of claim 15, wherein the second feedback controller ramps in the derivative term from substantially zero to a full derivative term.

20. The system of claim 19, wherein the second feedback controller ramps in the derivative term in calculated increments.