Stabilized directional control systems and methods

• US 9,676,464 B2
• Filed: 07/01/2014
• Issued: 06/13/2017
• Est. Priority Date: 01/31/2013
• Status: Active Grant

• Current Assignee: Teledyne FLIR LLC (Teledyne Technologies Incorporated)
• Original Assignee: FLIR Systems, Inc. (Teledyne Technologies Incorporated)
• Inventors: Johnson, Mark, Yeomans, Chris
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US14/321,646
• Publication Number:
  US 20140316657A1
• Time in Patent Office: 1,078 Days
• Field of Search: 701 42
• CPC Class Codes: B63H 25/00 Steering; Slowing-down otherwise than by use of propulsive elements using movably-installed outboard propulsion units B63H20/00; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
• CPC Class Codes: B63H 25/06 Steering by rudders by rudders carrying propellers B63H25/42
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles

Abstract

Techniques are disclosed for systems and methods to provide stabilized directional control for a vehicle. A directional control system for an embodiment may include a logic device adapted to receive directional data about a vehicle and determine nominal vehicle feedback from the directional data. The nominal vehicle feedback may be used to adjust a directional control signal provided to an actuator of a vehicle. The directional control signal may be limited to a value below an actuator rate limit before a directional control signal is adjusted by the nominal vehicle feedback. A directional control system may include a logic device, a memory, one or more sensors, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other modules of a vehicle.

Claims

1. A system comprising:

a logic device configured to receive one or more sensor signals and generate one or more controller signals to provide directional control for a vehicle, wherein the logic device is configured to;

receive a steering angle and a yaw rate of the vehicle, wherein the steering angle is based, at least in part, on a steering demand;

determine a nominal vehicle steering rate by processing the steering angle with a nominal vehicle predictor to produce the nominal vehicle steering rate, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles; and

determine a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand, and wherein the processing the steering angle with the nominal vehicle predictor comprises processing the steering angle, adjusted by the nominal vehicle feedback signal, with the nominal vehicle predictor and receiving the nominal vehicle steering rate from the nominal vehicle predictor.

2. The system of claim 1, wherein the

vehicle comprises a watercraft.

3. The system of claim 1, wherein the transfer function comprises a ratio of a nominal vehicle steering rate gain term to a nominal vehicle steering rate lag term.

4. The system of claim 1, wherein the determine the nominal vehicle feedback signal comprises:

determining a difference between the yaw rate and the nominal vehicle steering rate;

integrating the difference; and

applying a feedback gain to the integrated difference to determine the nominal vehicle feedback signal.

5. The system of claim 1, further comprising a heading sensor, wherein the logic device is configured to:

receive a target heading;

receive a heading of the vehicle from the heading sensor; and

determine the steering demand, wherein the steering demand is based, at least in part, on a difference between the target heading and the heading.

6. The system of claim 5, wherein:

the logic device is configured to limit the steering demand to produce a steering actuator rate demand less than a steering actuator rate limit and/or a steering demand less than a steering actuator angle limit.

7. The system of claim 5, further comprising a user interface, wherein the logic device is configured to:

receive a user-selectable responsiveness setting from the user interface; and

modify, based on the responsiveness setting, one or more gains, a deadband, and/or a limit used to determine the steering demand.

8. The system of claim 1, wherein:

the logic device is configured to provide the steering demand to a steering actuator; and

the steering demand is adjusted by the nominal vehicle feedback signal prior to being provided to the steering actuator.

9. The system of claim 1, wherein:

the logic device is configured to provide the nominal vehicle feedback signal to a bandwidth-selectable low-pass filter;

the filtered nominal vehicle feedback signal is used to adjust the steering demand; and

a bandwidth of the low-pass filter is modified based on a user-selectable responsiveness setting.

10. The system of claim 1, wherein:

the yaw rate is a compensated yaw rate of the vehicle; and

the compensated yaw rate is determined after a pitch, pitch rate, roll, and/or roll rate of the vehicle are determined to reduce a pitch-induced noise in the compensated yaw rate.

11. The system of claim 1, further comprising:

a steering actuator receiving the steering demand provided as one of the controller signals, wherein the steering actuator controls a watercraft rudder; and

a steering sensor and a steering rate sensor providing the steering angle and the yaw rate as one or more of the sensor signals, wherein the steering and/or steering rate sensors are fixed relative to the vehicle.

12. A method comprising:

receiving a steering angle and a yaw rate of a vehicle, wherein the steering angle is based, at least in part, on a steering demand for the vehicle;

determining a nominal vehicle steering rate by processing the steering angle with a nominal vehicle predictor to produce the nominal vehicle steering rate, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles; and

determining a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand, and wherein the processing the steering angle with the nominal vehicle predictor comprises processing the steering angle, adjusted by the nominal vehicle feedback signal, with the nominal vehicle predictor and receiving the nominal vehicle steering rate from the nominal vehicle predictor.

13. The method of claim 12, wherein the

vehicle comprises a watercraft.

14. The method of claim 12, wherein the transfer function comprises a ratio of a nominal vehicle steering rate gain term to a nominal vehicle steering rate lag term.

15. The method of claim 12, wherein the determining the nominal vehicle feedback signal comprises:

determining a difference between the yaw rate and the nominal vehicle steering rate;

integrating the difference; and

applying a feedback gain to the integrated difference to determine the nominal vehicle feedback signal.

16. The method of claim 12, further comprising:

receiving a target heading;

receiving a heading of the vehicle; and

determining the steering demand, wherein the steering demand is based, at least in part, on a difference between the target heading and the heading.

17. The method of claim 16, further comprising:

limiting the steering demand to produce a steering actuator rate demand less than a steering actuator rate limit and/or a steering demand less than a steering actuator angle limit.

18. The method of claim 16, further comprising:

receiving a user-selectable responsiveness setting; and

modifying, based on the responsiveness setting, one or more gains, a deadband, and/or a limit used to determine the steering demand.

19. The method of claim 12, further comprising providing the steering demand to a steering actuator, wherein:

the steering demand is adjusted by the nominal vehicle feedback signal prior to being provided to the steering actuator.

20. The method of claim 12, further comprising providing the nominal vehicle feedback signal to a bandwidth-selectable low-pass filter, wherein:

the filtered nominal vehicle feedback signal is used to adjust the steering demand; and

a bandwidth of the low-pass filter is modified based on a user-selectable responsiveness setting.

21. The method of claim 12, wherein:

the yaw rate is a compensated yaw rate of the vehicle; and

the compensated yaw rate is determined after a pitch, pitch rate, roll, and/or roll rate of the vehicle are determined to reduce a pitch-induced noise in the compensated yaw rate.

22. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more logic devices of a system are configured to cause the system to perform a method comprising:

receiving a steering angle and a yaw rate of a vehicle, wherein the steering angle is based, at least in part, on a steering demand;

determining a nominal vehicle steering rate by processing the steering angle with a nominal vehicle predictor to produce the nominal vehicle steering rate, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles; and

determining a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand, and wherein the processing the steering angle with the nominal vehicle predictor comprises processing the steering angle, adjusted by the nominal vehicle feedback signal, with the nominal vehicle predictor and receiving the nominal vehicle steering rate from the nominal vehicle predictor.