Watercraft speed control device

• US 8,145,372 B2
• Filed: 02/23/2009
• Issued: 03/27/2012
• Est. Priority Date: 02/11/2004
• Status: Active Grant

• Current Assignee: Enovation Controls, LLC (Helios Technologies, Inc.)
• Original Assignee: Econtrols Incorporated
• Inventors: Walser, Michael W., Guglielmo, Kennon H., Shouse, Kenneth R., Grogan, Joseph
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US12/391,111
• Publication Number:
  US 20090209153A1
• Time in Patent Office: 1,128 Days
• Field of Search: 701/21
• US Class Current: 701/21
• 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

Abstract

An automatic speed control system that provides desired watercraft velocity over land. The coupled algorithms correct engine speed and torque using inertia based measurements, GPS, and tachometer measurements, and the corrections are augmented and enhanced by velocity/speed and torque/speed relationships that are dynamically and adaptively programmed with real-time data collected during replicated operations of the watercraft in specified conditions.

Claims

1. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft; and

a control module comprising;

an engine speed algorithm capable of creating a first engine speed output correction from said first velocity measurement, said second velocity measurement, and said predetermined desired velocity;

said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

2. A system as in claim 1, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer speed measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

3. A system as in claim 1, further comprising:

a tachometer device capable of measuring the revolutions per minute of a drive shaft of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer revolutions per minute measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

4. A system as in claim 1, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising;

an additional engine speed comparator capable of determining the engine speed error between said first engine speed output correction and said tachometer speed measurement; and

an engine torque algorithm capable of creating a first engine torque output correction from said engine speed error, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

5. A system as in claim 1, said control module further comprising:

an additional engine speed algorithm capable of creating a second engine speed output correction corresponding to an input representative of said predetermined velocity, said second engine speed output correction representing a dynamic historical value of the speed of an engine propelling said watercraft at a velocity approximately equal to said predetermined velocity; and

an engine speed comparator capable of summing said first engine speed output correction of said engine speed algorithm and said second engine speed output correction of said additional engine speed algorithm, said sum capable of causing said watercraft to be propelled at approximately said predetermined velocity.

6. A system as in claim 1, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

7. A system as in claim 2, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

8. A system as in claim 7, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed correction and torque required to produce said engine speed correction as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

9. A system as in claim 7, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed and torque required to produce said engine speed as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

10. A system as in claim 8, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

11. A system as in claim 9, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

12. A system as in claim 5, wherein said additional engine speed algorithm is capable of building a table of discrete data pairs of velocity magnitude and engine speed of said watercraft as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine speed algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

13. A system as in claim 12, wherein said additional engine speed algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

14. A system as in claim 2, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

15. A system as in claim 3, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

16. A system as in claim 4, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

17. A system as in claim 5, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

18. A system as in claim 3, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

19. A system as in claim 4, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

20. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft; and

a control module comprising;

an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft;

a velocity comparator capable of determining the velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; and

an engine speed algorithm capable of creating a first engine speed output correction from said velocity magnitude difference, said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

21. A system as in claim 20, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer speed measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

22. A system as in claim 20, further comprising:

a tachometer device capable of measuring the revolutions per minute of a drive shaft of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer revolutions per minute measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

23. A system as in claim 20, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising;

an additional engine speed comparator capable of determining the engine speed error between said first engine speed output correction and said tachometer speed measurement; and

an engine torque algorithm capable of creating a first engine torque output correction from said engine speed error, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

24. A system as in claim 20, said control module further comprising:

an additional engine speed algorithm capable of creating a second engine speed output correction corresponding to an input representative of said predetermined velocity, said second engine speed output correction representing a dynamic historical value of the speed of an engine propelling said watercraft at a velocity approximately equal to said predetermined velocity; and

an engine speed comparator capable of summing said first engine speed output correction of said engine speed algorithm and said second engine speed output correction of said additional engine speed algorithm, said sum capable of causing said watercraft to be propelled at approximately said predetermined velocity.

25. A system as in claim 20, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

26. A system as in claim 21, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

27. A system as in claim 26, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed correction and torque required to produce said engine speed correction as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

28. A system as in claim 26, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed and torque required to produce said engine speed as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

29. A system as in claim 27, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

30. A system as in claim 28, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

31. A system as in claim 24, wherein said additional engine speed algorithm is capable of building a table of discrete data pairs of velocity magnitude and engine speed of said watercraft as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine speed algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

32. A system as in claim 31, wherein said additional engine speed algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

33. A system as in claim 21, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

34. A system as in claim 22, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

35. A system as in claim 23, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

36. A system as in claim 24, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

37. A system as in claim 22, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

38. A system as in claim 23, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

39. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft; and

a control module comprising;

an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; and

an engine speed algorithm capable of creating a first engine speed output correction from said predetermined desired velocity of said watercraft and said observed velocity measurement of the velocity of said watercraft, said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

40. A system as in claim 39, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer speed measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

41. A system as in claim 39, further comprising:

a tachometer device capable of measuring the revolutions per minute of a drive shaft of said engine propelling said watercraft;

said control module further comprising an engine torque algorithm capable of creating a first engine torque output correction from said first engine speed output correction and said tachometer revolutions per minute measurement, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

42. A system as in claim 39, further comprising:

a tachometer device capable of measuring the speed of said engine propelling said watercraft;

said control module further comprising;

an additional engine speed comparator capable of determining the engine speed error between said first engine speed output correction and said tachometer speed measurement; and

an engine torque algorithm capable of creating a first engine torque output correction from said engine speed error, said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

43. A system as in claim 39, said control module further comprising:

an additional engine speed algorithm capable of creating a second engine speed output correction corresponding to an input representative of said predetermined velocity, said second engine speed output correction representing a dynamic historical value of the speed of an engine propelling said watercraft at a velocity approximately equal to said predetermined velocity; and

an engine speed comparator capable of summing said first engine speed output correction of said engine speed algorithm and said second engine speed output correction of said additional engine speed algorithm, said sum capable of causing said watercraft to be propelled at approximately said predetermined velocity.

44. A system as in claim 39, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

45. A system as in claim 40, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

46. A system as in claim 45, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed correction and torque required to produce said engine speed correction as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

47. A system as in claim 45, wherein said additional engine torque algorithm is capable of building a table of discrete data pairs of engine speed and torque required to produce said engine speed as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine torque algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

48. A system as in claim 46, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

49. A system as in claim 47, wherein said additional engine torque algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

50. A system as in claim 43, wherein said additional engine speed algorithm is capable of building a table of discrete data pairs of velocity magnitude and engine speed of said watercraft as said watercraft is repeatedly operated for calibration over a prevailing set of ambient conditions, said additional engine speed algorithm being capable of determining interpolated and extrapolated data points among and extending from said data pairs collected during said calibration operation of said watercraft.

51. A system as in claim 50, wherein said additional engine speed algorithm is capable of determining a condition of predetermined change in a predetermined parameter prior to updating said table.

52. A system as in claim 40, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

53. A system as in claim 41, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

54. A system as in claim 42, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

55. A system as in claim 43, wherein said velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

56. A system as in claim 41, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

57. A system as in claim 42, said control module further comprising:

an additional engine torque algorithm capable of creating a second engine torque output correction corresponding to an input representative of said first engine speed output correction of said engine speed algorithm, said second engine torque output correction representing a dynamic historical value of the torque required to change the engine speed of an engine propelling said watercraft an amount approximately equal to said first engine speed output correction of said engine speed algorithm; and

a torque comparator capable of summing said first engine torque output correction of said engine torque algorithm and said second engine torque output correction of said additional engine torque algorithm, said sum being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

58. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft;

a tachometer device capable of measuring the speed of said engine propelling said watercraft; and

a control module comprising an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said predetermined velocity, said first velocity measurement, and said second velocity measurement; and

said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

59. A system as in claim 58, wherein said first velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

60. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft;

a tachometer device capable of measuring the speed of said engine propelling said watercraft; and

a control module comprising;

an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; and

an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said predetermined velocity, said observed velocity measurement; and

said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

61. A system as in claim 60, wherein said first velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.

62. A system for controlling the velocity of a watercraft having an engine for propulsion, said system comprising:

a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft;

a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft;

a control input device capable of accepting an input of a predetermined velocity for said watercraft;

a tachometer device capable of measuring the speed of said engine propelling said watercraft; and

a control module comprising;

an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft;

a velocity comparator capable of determining the velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; and

an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; and

said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.

63. A system as in claim 62, wherein said first velocity measuring device is selected from the group consisting of a GPS device, a paddle wheel, and a pitot tube.