System and method for controlling a marine vessel

• US 8,480,445 B2
• Filed: 11/24/2009
• Issued: 07/09/2013
• Est. Priority Date: 11/24/2004
• Status: Active Grant

• Current Assignee: Vector Controls Incorporated
• Original Assignee: Robert A. Morvillo
• Inventors: Morvillo, Robert A.
• Primary Examiner(s): SWINEHART, EDWIN L
• Application Number:
  US12/624,994
• Publication Number:
  US 20100070119A1
• Time in Patent Office: 1,323 Days
• Field of Search: 440 40- 42, 701/21, 114/146, 114/145.R
• US Class Current: 440/40
• CPC Class Codes: B63B 39/00 Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for amphibious vehicles B60F3/0038
• CPC Class Codes: B63B 39/061 by using trimflaps, i.e. flaps mounted on the rear of a boat, e.g. speed boat
• CPC Class Codes: B63H 11/08 of rotary type
• CPC Class Codes: B63H 11/107 Direction control of propulsive fluid B63H11/101 takes precedence
• CPC Class Codes: B63H 2011/008 Arrangements of two or more jet units
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 2025/026 using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• CPC Class Codes: B63H 21/213 Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
• 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: B63H 25/46 Steering or dynamic anchoring by jets or by rudders carrying jets steering or dynamic anchoring by deflecting or directing main propulsion jets B63H11/00
• CPC Class Codes: B63H 25/52 Parts for steering not otherwise provided for
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles

Abstract

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

Claims

1. A method for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

generating at least a first set of actuator control signals and a second set of actuator control signals;

coupling the first set of actuator control signals to the first and second steerable propulsors and controlling the first and second steerable propulsors using the first set of actuator control signals; and

coupling the second set of actuator control signals to the first and second trim deflectors and controlling the first and second trim deflectors using the second set of actuator control signals;

wherein the method further comprises at least one of;

inducing a net yawing force to the marine vessel by controlling at least one of the first and second steerable propulsors while at least partially countering a rolling force produced by the at least one of the first and second steerable propulsors by controlling at least one of the first and second trim deflectors;

or

inducing a net rolling force to the marine vessel by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.

2. The method of claim 1, further comprising inducing a second net yawing force to the marine vessel to port or to starboard by maintaining the first and second steerable propulsors in a neutral position and controlling one of the first and second trim deflectors.

3. The method of claim 1, wherein the method further comprises:

inducing a net trimming force in a down direction to a stern of the marine vessel by controlling each of the first and second steerable propulsors.

4. The method of claim 1, further comprising increasing the stability of the marine vessel by controlling each of the first and second steerable propulsors and by controlling each of the first and second trim deflectors.

5. The method of claim 1, further comprising receiving a first vessel control signal from a first vessel control apparatus having at least two degrees of freedom, the first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom.

6. The method of claim 5, further comprising receiving a second vessel control signal that corresponds to movement of a second vessel control apparatus along a rotational degree of freedom.

7. The method of claim 5, wherein the act of generating the first set of actuator control signals and the second set of actuator control signals comprises generating the first set of actuator control signals and the second set of actuator control signals such that a first degree of freedom of the first vessel control apparatus controls a net rolling force induced to the marine vessel, and a second degree of freedom of the first vessel control apparatus controls a net trimming force induced to the marine vessel.

8. The method of claim 5, further comprising receiving a second vessel control signal from an autopilot controller.

9. The method of claim 1, wherein each of the first and second steerable propulsors comprises a propeller or a waterjet with a steering nozzle.

10. The method of claim 1, further comprising controlling at least one of the first and second steerable propulsors and at least one of first and second trim deflectors in combination so as to induce a desired amount of roll in a turn.

11. The method of claim 1, wherein the first and second trim deflectors are configured to generate a hydrodynamic lifting force.

12. The method of claim 11, wherein each of the first and second trim deflectors comprises a trim tab or an interceptor.

13. A system for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

a processor that is configured to provide a first set of actuator control signals and a second set of actuator control signals,

wherein the first set of actuator control signals is coupled to the first and second steerable propulsors and controls the first and second steerable propulsors and the second set of actuator control signals is coupled to the first and second trim deflectors and controls the first and second trim deflectors,

wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals to induce, to the marine vessel, at least one of;

a net yawing force by controlling at least one of the first and second steerable propulsors while at least partially countering a rolling force produced by the at least one of the first and second steerable propulsors by controlling at least one of the first and second trim deflectors;

or

a net rolling force by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.

14. The system of claim 13, wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals so that a net yawing movement of the vessel is induced to port or to starboard, wherein the first and second steerable propulsors are maintained in a neutral position and one of the first and second trim deflectors is actuated to induce the net yawing movement.

15. The system of claim 13, wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signal to induce a net trimming force to the stern of the marine vessel in both an up direction and a down direction by controlling each of the first and second steerable propulsors and by controlling the first and second trim deflectors.

16. The system of claim 13, wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals to increase the stability of the marine vessel by controlling each of the first and second steerable propulsors and by controlling each of the first and second trim deflectors.

17. The system of claim 13, further comprising a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom.

18. The system of claim 17, wherein the first vessel control apparatus comprises a two-axis control device.

19. The system of claim 18, wherein the processor is configured to provide the first actuator control signals and the second actuator control signals such that a first axis of the two-axis control device controls a net rolling force induced to the marine vessel and a second axis of the two-axis control device controls a net trimming force induced to the marine vessel.

20. The system of claim 13, further comprising a vessel control apparatus providing a vessel control signal corresponding to movement of the vessel control apparatus.

21. The system of claim 20, wherein the vessel control apparatus has a rotational degree of freedom and provides the vessel control signal corresponding to movement of the vessel control apparatus along a rotational degree of freedom.

22. The system of claim 13, further comprising an interface coupled to the processor that provides for communication with an autopilot controller.

23. The system of claim 13, wherein each of the first and second trim deflectors comprises a trim tab or an interceptor.

24. The system of claim 13, wherein each of the first and second steerable propulsors comprises a propeller or a waterjet with a steering nozzle.

25. The system of claim 13, wherein the processor is configured to control at least one of the first and second steerable propulsors and at least one of first and second trim deflectors in combination so as to induce a desired amount of roll in a turn.

26. The system of claim 24, wherein each of the first and second steerable propulsors comprises an outboard motor, inboard/outboard drive, or a stern drive.

27. A method for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

generating at least a first set of actuator control signals and a second set of actuator control signals;

coupling the first set of actuator control signals to the first and second steerable propulsors and controlling the first and second steerable propulsors using the first set of actuator control signals;

coupling the second set of actuator control signals to the first and second trim deflectors and controlling the first and second trim deflectors using the second set of actuator control signals; and

inducing a net rolling force to the marine vessel by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.

28. A system for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

a processor that is configured to provide a first set of actuator control signals and a second set of actuator control signals,

wherein the first set of actuator control signals is coupled to the first and second steerable propulsors and controls the first and second steerable propulsors, and the second set of actuator control signals is coupled to the first and second trim deflectors and controls the first and second trim deflectors,

wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals to induce a net rolling force to the marine vessel by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.