Watercraft speed control device
First Claim
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1. A system for controlling the velocity of a watercraft having an engine for propulsion, the system comprising:
- a velocity measuring device configured to obtain a velocity measuring device measurement of a velocity magnitude of a watercraft;
an inertia measuring device configured to obtain an inertia measuring device measurement of an acceleration of the watercraft;
a control input device configured to accept an input from a user of a predetermined desired velocity of the watercraft and an input from the user of a predetermined desired acceleration of the watercraft; and
a control module comprising;
a velocity comparator configured to determine a velocity magnitude difference between the predetermined desired velocity of the watercraft and the velocity measuring device measurement of the velocity magnitude of the watercraft;
an acceleration comparator configured to determine an acceleration magnitude difference between the predetermined desired acceleration of the watercraft and the inertia measuring device measurement of the acceleration of the watercraft; and
an engine speed algorithm configured to create a first engine speed output correction from the velocity magnitude difference and the acceleration magnitude difference, wherein the engine speed output correction causes the watercraft to be propelled at substantially the predetermined desired velocity according to the predetermined desired acceleration.
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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.
121 Citations
21 Claims
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1. A system for controlling the velocity of a watercraft having an engine for propulsion, the system comprising:
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a velocity measuring device configured to obtain a velocity measuring device measurement of a velocity magnitude of a watercraft; an inertia measuring device configured to obtain an inertia measuring device measurement of an acceleration of the watercraft; a control input device configured to accept an input from a user of a predetermined desired velocity of the watercraft and an input from the user of a predetermined desired acceleration of the watercraft; and a control module comprising; a velocity comparator configured to determine a velocity magnitude difference between the predetermined desired velocity of the watercraft and the velocity measuring device measurement of the velocity magnitude of the watercraft; an acceleration comparator configured to determine an acceleration magnitude difference between the predetermined desired acceleration of the watercraft and the inertia measuring device measurement of the acceleration of the watercraft; and an engine speed algorithm configured to create a first engine speed output correction from the velocity magnitude difference and the acceleration magnitude difference, wherein the engine speed output correction causes the watercraft to be propelled at substantially the predetermined desired velocity according to the predetermined desired acceleration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for controlling the velocity of a watercraft having an engine for propulsion, the system comprising:
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a velocity measuring device configured to obtain a velocity measuring device measurement of a velocity magnitude of a watercraft; an inertia measuring device configured to obtain an inertia measuring device measurement of an acceleration of the watercraft; a control input device configured to accept an input from a user of a predetermined desired velocity of the watercraft; a control input device configured to accept an input from a user of a predetermined desired acceleration of the watercraft; a tachometer device configured to measure a tachometer speed measurement of an engine propelling the watercraft; and a control module comprising; a velocity comparator configured to determine a velocity magnitude difference between the predetermined desired velocity of the watercraft and the velocity measuring device measurement of the velocity magnitude of the watercraft; an acceleration comparator configured to determine an acceleration magnitude difference between the predetermined desired acceleration of the watercraft and the inertia measuring device measurement of the acceleration of the watercraft; an algorithm configured to create a first engine torque output correction from the tachometer speed measurement, the velocity magnitude difference, and the acceleration magnitude difference, wherein the first engine torque output correction is configured to cause the engine propelling the watercraft to propel the watercraft at substantially the predetermined velocity according to the predetermined acceleration. - View Dependent Claims (21)
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Specification