Counter-porpoising watercraft attitude control system

• US 9,068,855 B1
• Filed: 01/23/2012
• Issued: 06/30/2015
• Est. Priority Date: 01/21/2011
• Status: Active Grant

• Current Assignee: Enovation Controls, LLC (Helios Technologies, Inc.)
• Original Assignee: Enovation Controls, LLC (Helios Technologies, Inc.)
• Inventors: Guglielmo, Kennon
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): EVANS, GARRETT F
• Application Number:
  US13/356,493
• Time in Patent Office: 1,254 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B63B 39/03 by transferring liquids
• 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: B63H 20/08 Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt initiating means for steering B63H25/02
• 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: B63J 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G01C 21/36 Input/output arrangements for on-board computers
• CPC Class Codes: Y02T 70/10 Measures concerning design or construction of watercraft hulls

Abstract

A watercraft attitude control system using GPS and other motion inputs in order to predictively control thrust, steering and hull characteristics in ways that will prevent and minimize porpoising motion of a watercraft.

Claims

1. A watercraft control system for reducing uncontrolled pitch oscillations of a watercraft, wherein the watercraft has an engine for propulsion, said watercraft control system comprising:

(a) a sensor, or a combination of sensors, configured for providing a signal output relating to the pitch acceleration of said watercraft;

(b) a data processor configured to receive said signal output;

(c) a weight distribution actuator configured for redistributing the weight of said watercraft;

(d) said data processor being programmed

(i) to detect oscillations in the motion of said watercraft based at least in part on said signal output from said sensor or combination of sensors; and

(ii) to control said weight distribution actuator to effect a reduction in oscillations in the motion of said watercraft;

(e) a velocity determiner configured for determining the velocity of said watercraft; and

(f) a controller adapted to actuate said weight distribution actuator in response to oscillations detected by said data processor, based on said signal output, and based on output from said velocity determiner, whereby said weight distribution actuator causes a reduction in oscillations in the motion of said watercraft.

2. A watercraft control system as in claim 1, wherein said controller is adapted to allow manual override of actuation of said weight distribution actuator.

3. A watercraft control system as in claim 1, further comprising an engine speed controller adapted to determine and implement one or more adjustments to the output speed of said engine in response to oscillations detected by said data processor, said one or more adjustments being determined by said engine speed controller based on said signal output and based on output from said velocity determiner.

4. A watercraft control system as in claim 1, further comprising a propeller speed adjustment actuator.

5. A watercraft control system as in claim 1, wherein said weight distribution actuator comprises a water pump for moving water to change the location of a center of gravity of said watercraft.

6. A watercraft control system as in claim 1, wherein said weight distribution actuator further comprises a pump and a liquid conduit for conveying water from a tank of said watercraft in order to change the location of a center of gravity of said watercraft.

7. A watercraft control system as in claim 1, wherein said weight distribution actuator further comprises:

(a) at least one ballast pump in fluid communication with one or more ballast chambers on or in said watercraft;

(b) at least one ballast chamber fill sensor configured for obtaining a measurement of the ballast in each of said one or more ballast chambers;

(c) a ballast pump controller in association with said at least one ballast pump and with said at least one ballast chamber fill sensor, said ballast pump controller being configured for varying the ballast in each of said one or more ballast chambers.

8. A watercraft control system as in claim 1, further comprising an engine thrust angle controller.

9. A watercraft control system as in claim 8, wherein said engine thrust angle controller comprises a motor for adjusting a thrust angle of an outboard thrust propeller for said watercraft.

10. A watercraft control system for controlling the pitch attitude of a recreational boat, wherein said recreational boat has an engine for propulsion, said watercraft control system comprising:

(a) a velocity measuring device configured for obtaining a first measurement of the velocity magnitude of said recreational boat;

(b) a GPS device configured for obtaining a second measurement of the velocity magnitude of said recreational boat;

(c) an engine speed algorithm configured for creating a first engine speed output correction from said first velocity measurement, said second velocity measurement, and a currently desired velocity;

said first engine speed output correction being configured for causing said recreational boat to be propelled at substantially said currently desired velocity;

(d) a weight distribution actuator configured for redistributing the weight of said recreational boat, said weight distribution actuator comprising at least one ballast pump in fluid communication with one or more ballast chambers on or in said recreational boat;

(e) at least one ballast chamber fill sensor configured for obtaining a measurement of the ballast in each of said one or more ballast chambers;

(f) a ballast algorithm in communication with said at least one ballast chamber fill sensor and with said at least one ballast pump, said ballast control algorithm configured for varying the ballast in each of said one or more ballast chambers;

(g) a sensor, or combination of sensors, configured for providing a signal output relating to the pitch of said recreational boat;

(h) a data processor configured to receive said signal output;

(i) said data processor being programmed

(i) to detect oscillations in the motion of said recreational boat based at least in part on the signal output from said sensor or combination of sensors; and

(ii) to control said weight distribution actuator to effect a reduction in oscillations in the motion of said recreational boat in response to detected oscillations and based at least in part on a measurement of the velocity magnitude of said recreational boat;

(j) a controller adapted to actuate said weight distribution actuator in response to oscillations detected by said data processor based on said signal output, and based on output from said velocity measuring device or said GPS device, whereby said weight distribution actuator causes a reduction in oscillations in the motion of said recreational boat;

(k) trim tabs attached to said recreational boat, the deflection of said trim tabs being variable during operation of said recreational boat;

(l) a trim tab algorithm in communication with said trim tabs, said trim tab algorithm configured for varying said deflection of said trim tabs in response to said measurement of the pitch acceleration of said recreational boat;

(m) a tilt sensor configured for obtaining a measurement of angular tilt in the pitch axis of said recreational boat; and

(n) a tilt algorithm, in communication with said ballast algorithm, said trim tab algorithm, and said engine speed algorithm, where said tilt algorithm is configured for varying and substantially maintaining said angular tilt of said recreational boat while substantially maintaining said currently desired velocity of said recreational boat.

12. A watercraft control system as in claim 10, wherein said controller is adapted to allow manual override of actuation of said weight distribution actuator.

13. A watercraft control system as in claim 10, further comprising an engine speed controller adapted to determine and implement one or more adjustments to the output speed of said engine in response to oscillations detected by said data processor, said one or more adjustments being determined by said engine speed controller based on said signal output and based on output from said velocity measuring device or said GPS device.

11. A watercraft control system for controlling the pitch attitude of a recreational boat, wherein said recreational boat has an engine for propulsion, said watercraft control system comprising:

(a) a velocity measuring device configured for obtaining a first measurement of the velocity magnitude of said recreational boat;

(b) a GPS device configured for obtaining a second measurement of the velocity magnitude of said recreational boat;

(c) an engine speed algorithm configured for creating a first engine speed output correction from said first velocity measurement, said second velocity measurement, and a currently desired velocity;

said first engine speed output correction being configured for causing said recreational boat to be propelled at substantially said currently desired velocity;

(d) a weight distribution actuator configured for redistributing the weight of said recreational boat, said weight distribution actuator comprising at least one ballast pump in fluid communication with one or more ballast chambers on or in said recreational boat;

(e) at least one ballast chamber fill sensor configured for obtaining a measurement of the ballast in each of said one or more ballast chambers;

(f) a ballast algorithm in communication with said at least one ballast chamber fill sensor and with said at least one ballast pump, said ballast control algorithm configured for varying the ballast in each of said one or more ballast chambers;

(g) trim tabs attached to said recreational boat, the deflection of said trim tabs being variable during operation of said watercraft;

(h) an engine thrust angle controller;

(i) an inertia measurement device configured for obtaining a measurement of the pitch acceleration of said recreational boat;

(j) a tilt sensor configured for obtaining a measurement of angular tilt in the pitch axis of said recreational boat; and

(k) a trim tab algorithm in communication with said trim tabs, said trim tab algorithm configured for varying said deflection of said trim tabs in response to said measurement of the pitch acceleration of said recreational boat;

(l) a data processor configured to receive a signal output from said inertia measurement device;

(m) said data processor being programmed

(i) to detect oscillations in the motion of said recreational boat based at least in part on the signal output from said inertia measurement device; and

(ii) to control said weight distribution actuator to effect a reduction in oscillations in the motion of said recreational boat;

(n) a controller adapted to actuate said weight distribution actuator in response to oscillations detected by said data processor, based on said signal output, and based on output from said velocity measuring device or said GPS device, whereby said weight distribution actuator causes a reduction in oscillations in the motion of said recreational boat; and

(o) a tilt algorithm, in communication with said ballast algorithm, said trim tab algorithm, and said engine speed algorithm, where said tilt algorithm is configured for varying and substantially maintaining said angular tilt of said recreational boat while substantially maintaining said currently desired velocity of said recreational boat.

14. A watercraft control system as in claim 11, wherein said controller is adapted to allow manual override of actuation of said weight distribution actuator.

15. A watercraft control system as in claim 11, further comprising an engine speed controller adapted to determine and implement one or more adjustments to the output speed of said engine in response to oscillations detected by said data processor, said one or more adjustments being determined by said engine speed controller based on said signal output and based on output from said velocity measuring device or said GPS device.

16. A watercraft control system as in claim 11, wherein said engine thrust angle controller comprises a motor for adjusting a thrust angle of an outboard thrust propeller for said recreational boat.

17. A watercraft control system for reducing uncontrolled pitch oscillations of a watercraft, wherein the watercraft has an engine for propulsion, said watercraft control system comprising:

(a) a sensor, or combination of sensors, configured for providing a signal output relating to the pitch acceleration of said watercraft;

(b) a data processor configured to receive said signal output;

(c) a hull adjustment actuator configured for adjusting the pitch of the hull of said watercraft;

(d) said data processor being programmed

(i) for detecting oscillations in the motion of said watercraft based at least in part on the signal output from said sensor or combination of sensors; and

(ii) to control said hull adjustment actuator to effect a reduction in oscillation in the motion of said watercraft;

(e) a velocity determiner configured for determining the velocity of said watercraft;

(f) a controller adapted to actuate said hull adjustment actuator in response to oscillations detected by said data processor based on said signal output, and based on output from said velocity determiner, whereby said hull adjustment actuator causes a reduction in oscillation in the motion of said watercraft;

(g) a weight distribution actuator configured for redistributing the weight of said watercraft;

(h) said data processor being further programmed to control said weight distribution actuator to effect a reduction in oscillations in the motion of said watercraft;

(i) a second controller adapted to actuate said weight distribution actuator in response to oscillations detected by said data processor, based on said signal output, and based on output from said velocity determiner, whereby said weight distribution actuator causes a reduction in oscillations in the motion of said watercraft;

(j) an engine speed controller adapted to determine and implement one or more adjustments to the output speed of said engine in response to oscillation detected by said data processor, said one or more adjustments being determined by said engine speed controller based on said signal output and based on output from said velocity determiner;

(k) a propeller speed adjustment actuator; and

(l) an engine thrust angle controller, wherein said engine thrust angle controller comprises a motor for adjusting a thrust angle of an outboard thrust propeller for said watercraft.

18. A watercraft control system as in claim 17, wherein said weight distribution actuator further comprises:

(a) at least one ballast pump in fluid communication with one or more ballast chambers on or in said watercraft; and

(b) at least one ballast chamber fill sensor configured for obtaining a measurement of the ballast in each of said one or more ballast chambers.

19. A watercraft control system as in claim 17, wherein said hull adjustment actuator comprises:

(a) trim tabs attached to said watercraft, the deflection of said trim tabs being variable during operation of said watercraft; and

(b) a trim tab controller in communication with said trim tabs, said trim tab controller being configured for varying said deflection of said trim tabs in response to said measurement of the pitch acceleration of said watercraft.

20. A watercraft control system as in claim 17, wherein said hull adjustment actuator comprises a rudder.

21. A watercraft control system as in claim 17, wherein said controller is adapted to allow manual override of actuation of said hull adjustment actuator.