Watercraft steer-by-wire system
First Claim
1. A watercraft steer-by-wire control system comprising:
- a direction control system responsive to a directional command signal for steering a watercraft, said direction control system including a rudder position sensor to measure and transmit a rudder position signal;
a helm control system responsive to a helm command signal for receiving a directional input to a helm from an operator and providing tactile feedback to an operator, said helm control system including at least one of a helm position sensor to produce and transmit a helm position signal and a torque sensor to produce and transmit a helm torque signal, said tactile feedback including at least one of;
a resistive force, a reaction torque to an operator;
an on center detent as a helm moves thru a center position; and
variable control stops to resist helm motion beyond a selected threshold;
a watercraft speed sensor for producing a watercraft speed signal;
a master control unit in operable communication with said watercraft speed sensor, said helm control system, and said direction control system;
said master control unit includes a position control process for generating said directional command signal in response to said watercraft speed signal, said helm torque signal and said helm position signal;
said master control unit includes a torque control process for generating said helm command signal based on said helm torque signal, said helm position signal and said watercraft speed signal; and
a lateral thruster in operable communication and cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command.
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Accused Products
Abstract
A watercraft steer-by-wire control system for watercraft comprising: a direction control system including a rudder position sensor; a helm control system including at least one of; a helm position sensor to produce and transmit a helm position signal and an optional torque sensor to produce and transmit a helm torque sensor signal. The system optionally including a watercraft speed sensor and a master control unit in operable communication with the watercraft speed sensor, the helm control system, and the direction control system. The master control unit includes a position control process for generating the directional command signal in response to the watercraft speed signal, the helm torque sensor signal and the helm position signal. The master control unit includes a torque control process for generating the helm command signal, based on the helm torque sensor signal, the helm position signal and the watercraft speed signal.
94 Citations
84 Claims
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1. A watercraft steer-by-wire control system comprising:
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a direction control system responsive to a directional command signal for steering a watercraft, said direction control system including a rudder position sensor to measure and transmit a rudder position signal; a helm control system responsive to a helm command signal for receiving a directional input to a helm from an operator and providing tactile feedback to an operator, said helm control system including at least one of a helm position sensor to produce and transmit a helm position signal and a torque sensor to produce and transmit a helm torque signal, said tactile feedback including at least one of;
a resistive force, a reaction torque to an operator;
an on center detent as a helm moves thru a center position; and
variable control stops to resist helm motion beyond a selected threshold;a watercraft speed sensor for producing a watercraft speed signal; a master control unit in operable communication with said watercraft speed sensor, said helm control system, and said direction control system; said master control unit includes a position control process for generating said directional command signal in response to said watercraft speed signal, said helm torque signal and said helm position signal; said master control unit includes a torque control process for generating said helm command signal based on said helm torque signal, said helm position signal and said watercraft speed signal; and a lateral thruster in operable communication and cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for directing a watercraft with a watercraft steer-by-wire system comprising:
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receiving a watercraft speed signal; receiving a helm position signal; receiving a helm torque sensor signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm torque signal, said helm position signal, and said watercraft speed signal to provide tactile feedback to an operator, said tactile feedback including at least one of;
a resitive force, a reaction force to an operator;
an on center detent as a helm control moves thru a center position; and
variable control stops to resist helm motion beyond a selected threshold;generating a directional command signal to a direction control system based on said watercraft speed signal, said rudder position signal, and said helm position signal to control direction of said watercraft; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of sustantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A storage medium encoded with a machine-readable computer program code for steering a watercraft, said storage medium including instructions for causing a computer to implement a method comprising:
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receiving a watercraft speed signal; receiving a helm position signal receiving a helm torque sensor signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm torque signal, said helm position signal and said watercraft speed signal to provide tactile feedback to an operator, said tactile feedback incuding at least one of;
a resistive force, a reaction force to an operator;
an on center detent as a helm control moves thru a center position; and
variable control stops to resist helm motion beyond a selected threshold;generating a directional command signal to a direction control system based on said watercraft speed signal, said rudder position signal, and said helm position signal to control direction of said watercraft; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command.
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35. A computer data signal for steering a watercraft, said computer data signal including instructions for causing a computer to implement a method comprising:
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receiving a watercraft speed signal; receiving a helm position signal receiving a helm torque sensor signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm torque signal, said helm position signal and said watercraft speed signal to provide tactile feedback to an operator, said tactile feedback incuding at least one of;
a resistive force, a reaction force to an operator;
an on center detent as a helm control moves thru a center position; and
variable control stops to resist helm motion beyond a selected threshold; andgenerating a directional command signal to a direction control system based on said watercraft speed signal, said rudder position signal, and said helm position signal to control direction of said watercraft; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command.
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36. A watercraft steer-by-wire control system comprising:
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a direction control system responsive to a directional command signal for steering a watercraft, said direction control system including a rudder position sensor to measure and transmit a rudder position signal; a helm control system responsive to a helm command signal for receiving a directional input to a helm from an operator and providing tactile feedback to an operator, said helm control system including a helm position sensor to produce and transmit a helm position signal, a master control unit in operable communication with said helm control system, and said direction control system, said master control unit includes a position control process for generating said directional command signal in response to said helm position signal, said position control process calculates and produces a variable steering ratio signal; and a lateral thruster in operable communication and cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60)
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61. A method for directing a watercraft with a watercraft steer-by-wire system comprising:
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receiving a helm position signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm position signal to provide tactile feedback to an operator; generating a directional command signal to a direction control system based on said rudder position signal, and said helm position signal to control direction of said watercraft; producing a mode selection signal, wherein said generating a directional command signal is responsive to said mode selcetion signal; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command. - View Dependent Claims (62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82)
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83. The storage medium encoded with a machine-readable computer program code for steering a watercraft, said storage medium including instructions for causing a computer to implement a method comprising:
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receiving a helm position signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm position signal to provide tactile feedback to an operator; generating a directional command signal to a direction control system based on said rudder position signal, and said helm position signal to control direction of said watercraft; and producing a mode selection signal, wherein said generating a directional command signal is responsive to said mode selcetion signal; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command.
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84. A computer data signal for steering a watercraft, said computer data signal including instructions for causing a computer to implement a method comprising:
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receiving a helm position signal; receiving a rudder position signal; generating a helm command signal to a helm control system based on said helm position signal to provide tactile feedback to an operator; generating a directional command signal to a direction control system based on said rudder position signal, and said helm position signal to control direction of said watercraft; producing a mode selection signal, wherein said generating a directional command signal is responsive to said mode selcetion signal; and commanding a lateral thruster in cooperation with a rudder dynamics unit directing thrust to provide at least one of substantially lateral control and substantially yaw control to facilitate at least one of low speed and docking operations;
wherein said lateral thruster is responsive to at least one of a port command and a starboard command.
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Specification