Systems and methods for redundant drive-by-wire control of marine engines

• US 9,278,746 B1
• Filed: 05/29/2013
• Issued: 03/08/2016
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Arbuckle, Jason S., Snyder, Matthew W., Boatman, John R., Dengel, Michael P.
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Mahne, Kevin P
• Application Number:
  US13/904,878
• Time in Patent Office: 1,014 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B60W 50/04 Monitoring the functioning of the control system
• CPC Class Codes: B63B 2241/22 for providing redundancy to equipment or functionality of a vessel, e.g. for steering
• CPC Class Codes: B63H 2021/216 using electric control means
• CPC Class Codes: B63H 21/14 relating to internal-combustion engines of outboard type B63H20/00
• CPC Class Codes: B63H 21/21 Control means for engine or transmission, specially adapted for use on marine vessels
• 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: F02D 41/22 Safety or indicating devices for abnormal conditions in air/fuel ratio feedback systems F02D41/1495, in electric control linkage F02D11/107, in purge control systems F02M25/0809
• CPC Class Codes: F02D 41/266 the computer being backed-up or assisted by another circuit, e.g. analogue
• CPC Class Codes: G05B 2219/24189 Redundant processors monitor same point, common parameters
• CPC Class Codes: Y02T 70/00 Maritime or waterways transport

Abstract

Systems and methods are for drive-by-wire control of a marine engine. An input device is manually operated to provide operator inputs to an engine control unit (ECU) located with the engine. The ECU has a main processor that controls speed of the engine based upon the inputs. The ECU also has a watchdog processor that receives the inputs and that monitors operations of the main processor based upon the inputs. The operations of the main processor are communicated to the watchdog processor via a communication link. When communication between the main processor and watchdog processor fails, the watchdog processor determines whether the main processor is properly functioning based upon the speed of the engine.

Claims

1. A drive-by-wire control system for a marine engine, the control system comprising:

an input device that is manually operable to provide operator inputs to an engine control unit (ECU) located with the engine;

wherein the ECU has a main processor that receives the inputs and controls speed of the engine based upon the inputs;

wherein the ECU has a watchdog processor that receives the inputs and monitors operations of the main processor based upon the inputs; and

a communication link by which the operations of the main processor are communicated to the watchdog processor;

wherein the watchdog processor determines whether communication is properly occurring between the main processor and the watchdog processor; and

wherein the watchdog processor monitors the speed of the engine, and consequential to one of interruption and cessation of communication between the main processor and the watchdog processor, the watchdog processor infers whether the main processor is properly functioning based upon the speed of the engine.

2. The control system according to claim 1, comprising an engine speed link by which the speed of the engine is communicated from the main processor to the watchdog processor.

3. The control system according to claim 2, wherein the engine speed link is an electrical connection carrying a signal whose frequency is proportional to engine speed.

4. The control system according to claim 3, wherein the communication link is a serial peripheral interface (SPI).

5. The control system according to claim 3, comprising a tachometer that outputs the speed of the engine to the main processor.

6. The control system according to claim 5, wherein the main processor comprises a time processing unit (TPU) that generates engine speed signals based upon outputs of the tachometer and then communicates the engine speed signals to the watchdog processor via the engine speed link.

7. The control system according to claim 6, wherein the TPU generates the engine speed signals regardless of whether the main processor is functional.

8. The control system according to claim 1, wherein when the communication fails, the watchdog processor causes the main processor to reset when the watchdog processor determines that the speed of the engine is not reducing to an idle speed.

9. The control system according to claim 1, wherein when the communication fails, the watchdog processor causes the main processor to reset when the watchdog processor determines that the speed of the engine is above a threshold speed.

10. The control system according to claim 9, comprising a reset link via which the watchdog processor commands the main processor to reset, wherein the reset link is an electrical connection carrying a digital signal.

11. The control system according to claim 1, wherein the input device comprises a throttle lever and wherein the system further comprises a sensor that outputs analog-to-digital counts representing positions of the throttle lever.

12. The control system according to claim 11, wherein the sensor is connected to the throttle lever by a mechanical cable.

13. A drive-by-wire control system for a marine engine, the control system comprising:

an input device that is manually operable to provide operator inputs to an engine control unit (ECU) located with the engine;

wherein the ECU has a main processor that receives the inputs and controls speed of the engine based upon the inputs;

wherein the ECU has a watchdog processor that receives the inputs and monitors operations of the main processor based upon the inputs;

a communication link by which the operations of the main processor are communicated to the watchdog processor; and

a pin via which the speed of the engine is communicated to the watchdog processor;

wherein the main processor limits the speed of the engine to below a threshold; and

wherein the watchdog processor determines whether communication is properly occurring between the main processor and the watchdog processor; and

wherein the watchdog processor monitors the speed of the engine, and consequential to one of interruption and cessation of communication between the main processor and the watchdog processor, the watchdog processor resets the main processor when the speed of the engine is above the threshold.

14. A method of operating a drive-by-wire control system for a marine engine, the method comprising:

providing operator inputs to an engine control unit (ECU) located with the engine;

controlling, with a main processor located in the ECU, a speed of the engine based upon the inputs;

receiving the inputs with a watchdog processor located in the ECU;

monitoring, with the watchdog processor, operations of the main processor based upon the inputs;

determining, with the watchdog processor, whether communication is properly occurring between the main processor and the watchdog processor; and

monitoring, with the watchdog processor, the speed of the engine;

wherein consequential to one of interruption and cessation of communication between the main processor and the watchdog processor, inferring, with the watchdog processor, whether the main processor is properly functioning based upon the speed of the engine.

15. The method according to claim 14, comprising outputting with a tachometer the speed of the engine to the main processor.

16. The method according to claim 14, comprising communicating the speed of the engine to the watchdog processor regardless of whether the main processor is functional.

17. The method according to claim 14, comprising resetting the main processor when the watchdog processor determines that the speed of the engine is not returning to an idle speed.

18. The method according to claim 14, comprising resetting the main processor when the watchdog processor determines that the speed of the engine is above a threshold.

19. A control system for controlling a marine engine, the control system comprising:

an engine control unit (ECU) having a main processor;

an input device that provides operator inputs to the main processor;

wherein the main processor controls speed of the engine based upon the operator inputs;

a watchdog processor that receives the operator inputs and monitors operations of the main processor based upon the operator inputs;

a communication link by which the operations of the main processor are communicated to the watchdog processor; and

a processing unit that monitors the speed of the engine and communicates the speed of the engine to the watchdog processor via an engine speed link, wherein the processing unit communicates the speed of the engine to the watchdog processor at least when the main processor and the watchdog processor are not communicating;

wherein the watchdog processor determines whether communication is properly occurring between the main processor and the watchdog processor; and

wherein the watchdog processor, at least when the main processor and the watchdog processor are not communicating, determines whether the main processor is properly functioning based upon the speed of the engine.

20. The control system according to claim 19, wherein the main processor is configured to reduce the speed of the engine to an idle speed when the speed of the engine exceeds a threshold speed;

and wherein when the main processor and the watchdog processor are not communicating, the watchdog processor causes the main processor to reset when the watchdog processor determines that the speed of the engine is not reduced to the idle speed.

21. The control system according to claim 20, comprising a reset link via which the watchdog processor commands the main processor to reset.

22. The control system according to claim 19, wherein the main processor is configured to reduce the speed of the engine to an idle speed when the speed of the engine exceeds a threshold speed;

and wherein when the main processor and the watchdog processor are not communicating, the watchdog processor causes the main processor to reset when the watchdog processor determines that the speed of the engine is above the threshold speed.

23. A method for controlling a marine engine, the method comprising:

providing an engine control unit (ECU) having a main processor;

controlling a speed of the engine with the main processor based upon operator inputs;

monitoring operations of the main processor with a watchdog processor that receives the operator inputs;

communicating the operations of the main processor to the watchdog processor via a communication link;

determining, with the watchdog processor, whether communication is properly occurring between the main processor and the watchdog processor;

communicating the speed of the engine to the watchdog processor when the main processor and the watchdog processor are not communicating; and

determining whether the main processor is property functioning based upon the speed of the engine when the main processor and the watchdog processor are not communicating.

24. The method according to claim 23, wherein the main processor is configured to reduce the speed of the engine to an idle speed when the speed of the engine exceeds a threshold speed;

and further comprising causing the main processor to reset when the main processor and the watchdog processor are not communicating and the speed of the engine is not reduced to the idle speed.

25. The method according to claim 23, wherein the main processor is configured to reduce the speed of the engine to an idle speed when the speed of the engine exceeds a threshold speed;

and further comprising causing the main processor to reset when the main processor and the watchdog processor are not communicating and the speed of the engine is above the threshold speed.