Method and apparatus for controlling a waterjet-driven marine vessel
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B63H-011/107
B63H-011/00
출원번호
US-0261048
(2002-09-30)
발명자
/ 주소
Morvillo,Robert A.
출원인 / 주소
Morvillo,Robert A.
대리인 / 주소
Lowrie, Lando &
인용정보
피인용 횟수 :
27인용 특허 :
20
초록▼
A control system and apparatus for controlling waterjet-driven marine vessels is disclosed. Some aspects allow for generation of a plurality of actuator control signals from a single vessel control signal, such as those provided by vessel control apparatus. A control stick embodiment provides a cont
A control system and apparatus for controlling waterjet-driven marine vessels is disclosed. Some aspects allow for generation of a plurality of actuator control signals from a single vessel control signal, such as those provided by vessel control apparatus. A control stick embodiment provides a control apparatus that comprises a shaft moveable in at least one degree of freedom to provide the vessel control signals. Some aspects allow for an intuitive direct movement of the vessel in correspondence to movements of the control apparatus. Yet other aspects allow for locking out on or more degrees of freedom while other degrees of freedom and not locked out.
대표청구항▼
What is claimed is: 1. A method for controlling a marine vessel having a first steering nozzle, a reversing bucket and one of a bow thruster and a second steering nozzle, comprising: receiving a first vessel control signal from a first vessel control apparatus having at least two degrees of freedom
What is claimed is: 1. A method for controlling a marine vessel having a first steering nozzle, a reversing bucket and one of a bow thruster and a second steering nozzle, comprising: receiving a first vessel control signal from a first vessel control apparatus having at least two degrees of freedom, the first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; receiving a second vessel control signal corresponding to movement of a second vessel control apparatus along a third degree of freedom; and generating at least a first actuator control signal and a second actuator control signal; wherein the first actuator control signal is coupled to and controls the first steering nozzle, and the second actuator control signal is coupled to and controls one of the second steering nozzle, the reversing bucket, and the bow thruster; and inducing a net translational force to the marine vessel, in response to the first actuator control signal and the second actuator control signal, so that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; and inducing a net force to the marine vessel substantially in a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom. 2. The method of claim 1, wherein the act of generating the first actuator control signal and the second actuator control signal comprises calculating the first and second actuator control signals with at least one algorithm configured to apply the net translational force to the marine vessel along the same direction as movement of the first vessel control apparatus in response to receiving the first vessel control signal as an input. 3. The method of claim 1, further comprising moving the first vessel control apparatus along a single degree of freedom that provides the first and second actuator control signals to respective first and second actuators to provide the net force to the vessel in a direction corresponding primarily to the single degree of freedom. 4. The method of claim 1, wherein the act of generating at least the first actuator control signal and the second actuator control signal comprises also generating a third actuator control signal, and wherein the second actuator control signal is coupled to and controls the bow thruster and the third actuator control signal is coupled to and controls the reversing bucket. 5. The method of claim 1, wherein one of the first and second actuator control signals controls a speed of a prime mover of a waterjet propulsor corresponding to at least one of the first and second steering nozzles. 6. The method of claim 1, wherein one of the first and second actuator control signals controls an angular position of rotation of at least one of the first and second steering nozzles. 7. The method of claim 1, wherein the act of generating the first actuator control signal and the second actuator control signal comprises generating a set of the first actuator control signals for controlling the first and second steering nozzles and generating a set of the second actuator control signals for controlling at least two reversing buckets. 8. The method of claim 1, further comprising calibrating key operating points in a function relating the vessel control signal to a corresponding actuator control signal during a reference maneuver of the vessel. 9. The method of claim 1, further comprising moving the reversing bucket in substantially only one degree of freedom with respect to the vessel to provide varying amounts of thrust. 10. The method of claim 1, further comprising controlling the first and second steering nozzles so that they rotate substantially in unison. 11. The method of claim 1, further comprising automatically detecting and storing key parameters of any of the first and second steering nozzles, the reversing bucket and the bow thruster during a reference maneuver of the marine vessel. 12. The method of claim 11, further comprising implementing the key parameters to perform a maneuver of the marine vessel that corresponds to the reference maneuver. 13. The method of claim 1, further comprising recording key parameters of any of the first and second steering nozzles, the reversing bucket and the bow thruster, in response to actuating an input device during a reference maneuver of the marine vessel. 14. The method of claim 1, further comprising controlling the first steering nozzle and the bow thruster with movement of the first vessel control apparatus along a transverse axis to induce a transverse force to the marine vessel. 15. The method of claim 14, further comprising actuating the first and second actuator control signals to simultaneously control the first steering nozzle and the bow thruster. 16. The method of claim 14, further comprising providing an equal transverse thrust from each of the bow thruster and a combination of a reversing bucket and the steering nozzle for a neutral position of the second vessel control apparatus. 17. The method of claim 14, further comprising controlling the first steering nozzle in combination with the reversing bucket and the bow thruster to induce substantially only a net transverse force to the marine vessel with movement of the first vessel control apparatus along only a transverse axis and the second control apparatus being in a neutral position. 18. The method of claim 1, further comprising modifying the first and second actuator control signals based on the second vessel control signal so as to create a differential transverse thrust between a combination of the first steering nozzle and the reversing bucket and the bow thruster, to induce a rotational force to the marine vessel. 19. The method of claim 18, further comprising rotating the second vessel control apparatus to provide the second vessel control signal to impart a rotational only force that does not induce any substantial translational force to the marine vessel. 20. The method of claim 1, further comprising actuating the first steering nozzle in combination with a reversing bucket to provide a reverse thrusting waterjet, and actuating the second steering nozzle in combination with a second reversing bucket to provide a forward thrusting waterjet, in response to transverse motion of the first vessel control apparatus, and providing an angle of the first steering nozzle, measured from a straight ahead position, that is less than an angle of the second steering nozzle, measured from the straight ahead position. 21. The method of claim 20, further comprising configuring the reverse thrusting waterjet with a first revolutions per minute (RPM) value, and configuring the forward thrusting waterjet with a second RPM value, and configuring the first RPM value to be higher than the second RPM value. 22. The method of claim 1, wherein the marine vessel comprises the first and second steering nozzles, and further comprising an act of maintaining the first and second steering nozzles at a fixed position for all movements of the first vessel control apparatus to one of a port and starboard side of a neutral position while maintaining the second vessel control apparatus at a fixed position. 23. The method of claim 1, wherein the act of inducing a net force to the marine vessel, in response to at least one of the first and second actuator control signals, comprises imparting only a net rotational force to the marine vessel in response to the movement of the second vessel control apparatus along the third degree of freedom. 24. The method of claim 1, wherein the act of inducing a net force to the marine vessel in response to the first and second actuator control signals includes inducing a rotational force to the marine vessel in response to the movement of the second vessel control apparatus along the third degree of freedom without inducing any substantial translational force to the marine vessel, for the first vessel control apparatus in a neutral position. 25. The method of claim 1, wherein the act of receiving the first vessel control signal comprises receiving two vessel control signals, each signal corresponding to a single degree of freedom of the first vessel control apparatus. 26. The method of claim 1, wherein the act of inducing the net translational force to the marine vessel comprises pointing the first steering nozzle and the second steering nozzle to one of a port and starboard side in response to movement of the first vessel control apparatus along a transverse axis. 27. The method of claim 26, wherein the act of inducing the net translational force to the marine vessel further comprises pointing the first steering nozzle and the second steering to an opposite side of movement of the first vessel control apparatus along the transverse axis. 28. The method of claim 1, wherein the act of receiving a second vessel control signal corresponds to movement of a second vessel control apparatus along a rotational degree of freedom. 29. The method of claim 1, wherein the acts of receiving the first vessel control signal and receiving the second vessel control signal comprise receiving the first and second vessel control signals from a first vessel control apparatus having three degrees of freedom. 30. A system for controlling a marine vessel having a first steering nozzle, a reversing bucket and one of a bow thruster and a second steering nozzle, comprising: a first vessel control apparatus having at least two degrees of freedom and providing a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal and that is configured to provide at least a first actuator control signal and a second actuator control signal; wherein the first actuator control signal is coupled to and controls the first steering nozzle and the second actuator control signal is coupled to and controls one of the second steering nozzle, the reversing bucket, and the bow thruster; wherein the processor is configured to provide the first actuator control signal and the second actuator control signal such that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; and wherein the processor is configured to provide the first actuator control signal and the second actuator control signal so that a net force is induced to the marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom. 31. The system of claim 30, wherein the processor is programmed with at least one algorithm to provide the first and second actuator control signals in response to receiving the first vessel control signal as an input so as to induce the net translational force to the marine vessel substantially along the same direction as the first vessel control apparatus. 32. The system of claim 30, wherein the processor is adapted for calibrating the actuator control signals during a reference maneuver of the marine vessel. 33. The system of claim 30, wherein the first vessel control apparatus comprises a two-axis control stick. 34. The system of claim 30, wherein the processor is configured to provide the first actuator control signal and the second actuator control signal such that a first axis of the two-axis control stick controls a net lateral force applied to the marine vessel and a second axis of the two-axis control stick controls a net fore-and-aft force applied to the marine vessel. 35. The system of claim 30, wherein the processor is configured to provide a third actuator control signal and the vessel comprises a prime mover responsive to and controlled by the third actuator control signal. 36. The system of claim 30, further comprising an interface, coupled to the processor, that provides for communication with a personal digital assistant (PDA). 37. The system of claim 30, wherein the reversing bucket is constrained to substantially only one degree of freedom to provide varying amounts of thrust. 38. The system of claim 30, wherein the first steering nozzle and the second steering nozzle are configured such that the two steering nozzles rotate substantially in unison. 39. The system of claim 30, wherein the processor is configured to provide at least one of the first actuator control signal and the second actuator control signal to induce a rotational force in the marine vessel corresponding to movement of the second vessel control apparatus along the third degree of freedom without substantially inducing any net translational force to the marine vessel, for the first vessel control apparatus in a neutral position. 40. The system of claim 30, wherein the processor is further configured to automatically record key parameters of any of the first and second steering nozzles, the reversing bucket and the bow thruster during a reference maneuver of the marine vessel. 41. The system of claim 40, wherein the processor is further configured to automatically implement the key parameters to control the marine vessel to perform a maneuver of the marine vessel that corresponds to the reference maneuver. 42. The system of claim 30, further comprising an input device coupled to the processor, and wherein the processor is further configured to record key parameters of any of the first and second steering nozzles, the reversing bucket and the bow thruster in response to actuation of the input device. 43. The system of claim 30, comprising the bow thruster, the reversing bucket and the first steering nozzle, wherein the first vessel control apparatus is a joystick, and wherein the processor is configured to control a combination of the first steering nozzle and the reversing bucket and the bow thruster to induce substantially only a transverse force to the marine vessel with movement of the joystick along only a transverse axis and the second control apparatus being in a neutral position. 44. The system of claim 43, wherein the processor is configured to provide the first actuator control signal and the second actuator control signal so as to simultaneously control a combination of the first steering nozzle and the reversing bucket and the bow thruster to induce substantially only the transverse force to the marine vessel with movement of the joystick along only the transverse axis and the second control apparatus being in the neutral position. 45. The system of claim 30, wherein the processor is configured to provide the first and second actuator control signals to induce a transverse force from each of a combination of the first steering nozzle and the reversing bucket and the bow thruster that are equal when the second control apparatus is in a neutral position. 46. The system of claim 30, wherein the processor is configured in response to the second vessel control signal, to modify the first and second actuator control signals so as to create a differential thrust between a combination of the first steering nozzle and the reversing bucket and the bow thruster so as to induce a rotational force to the marine vessel. 47. The system of claim 30, wherein the marine vessel comprises the first steering nozzle and the second steering nozzle, and wherein the processor is configured so as to maintain the first and second steering nozzles at a fixed position for all movements of the first vessel control apparatus to one of a port and starboard side of a neutral position, while maintaining the second vessel control apparatus at a fixed position. 48. The system of claim 30, wherein the processor is configured, in response to the second vessel control signal, to induce a change in a deflection angle of the first steering nozzle. 49. The system of claim 30, wherein marine vessel comprises the first and second steering nozzles and the reversing bucket and a second reversing bucket, and wherein the processor is configured to actuate the first steering nozzle in combination with the reversing bucket to provide a reverse thrusting waterjet and to actuate the second steering nozzle in combination with the second reversing bucket to provide a forward thrusting waterjet, in response to transverse motion of the first vessel control apparatus, and wherein the processor is configured to provide an angle of the first steering nozzle, measured from a straight ahead position, that is less than an angle of the second steering nozzle, measured from the straight ahead position. 50. The system of claim 49, wherein the reverse thrusting waterjet is configured with a first revolutions per minute (RPM) value, and the forward thrusting waterjet is configured with a second RPM value, wherein the first RPM value is higher than the second RPM value. 51. The system of claim 30, wherein the first vessel control signal comprises two vessel control signals, each signal corresponding to a single degree of freedom of the first vessel control apparatus. 52. The system as claimed in claim 30, wherein the processor is further configured point the first steering nozzle and the second steering nozzle to one of a port and starboard side in response to movement of the first vessel control apparatus along a transverse axis. 53. The method of claim 52, wherein the processor is further configured to point the first steering nozzle and the second steering nozzle to an opposite side of movement of the first vessel control apparatus along the transverse axis. 54. The system as claimed in claim 30, wherein the second vessel control apparatus has a rotational degree of freedom and provides the second vessel control signal corresponding to movement of the second vessel control apparatus along the rotational degree of freedom. 55. The system of claim 30, wherein the first vessel control apparatus and the second vessel control apparatus comprise a three-axis controller. 56. A system for controlling a marine vessel having first and second steering nozzles, and first and second reversing buckets, comprising: a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal, and that is configured to provide a first set of actuator control signals and a second set of actuator control signals; wherein the first set of actuator control signals are coupled to and control the first and second steering nozzles and the second set of actuator control signals are coupled to and control the first and second reversing buckets; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signal so that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; and wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals so that a net force is induced to marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom. 57. The system of claim 56, wherein the processor is programmed with at least one algorithm to provide the first and second sets of actuator control signals in response to receiving the first vessel control signal as an input, so as to induce the net translational force to the marine vessel substantially along the same direction as the first vessel control apparatus. 58. The system of claim 56, wherein the first vessel control apparatus comprises a two-axis control stick. 59. The system of claim 58, wherein the processor is configured to provide the first actuator control signals and the second actuator control signals such that a first axis of the two-axis control stick controls a net lateral force induced to the marine vessel and a second axis of the two-axis control stick controls a net fore-and-aft force induced to the marine vessel. 60. The system of claim 56, further comprising an interface, coupled to the processor, that provides for communication with a personal digital assistant (PDA). 61. The system of claim 56, wherein the first and second reversing buckets are constrained to substantially only one degree of freedom to provide varying amounts of thrust. 62. The system of claim 56, wherein the first and second steering nozzles are configured so that they rotate substantially in unison. 63. The system of claim 56, wherein the processor is configured to provide at least one of the first set of actuator control signals and the second set of actuator control signals to induce a net rotational force to the marine vessel corresponding to movement of the second vessel control apparatus along the third degree of freedom without substantially inducing any net translational force to the marine vessel, for the first vessel control apparatus in a neutral position. 64. The system of claim 56, wherein the processor is further configured to automatically record key parameters of any of the first and second steering nozzles and the first and second reversing buckets during a reference maneuver of the marine vessel. 65. The system of claim 64, wherein the processor is further configured to automatically implement the key parameters to control the marine vessel to perform a maneuver of the marine vessel that corresponds to the reference maneuver. 66. The system of claim 56, wherein the processor is configured to provide a third set of actuator control signals and the vessel comprises prime movers responsive to and controlled by the third actuator control signals. 67. The system of claim 56, wherein the processor is configured so as to maintain the first and second steering nozzles at a fixed position for all movements of the first vessel control apparatus to one of a port and starboard side of a neutral position, while maintaining the second vessel control apparatus at a fixed position. 68. The system of claim 56, wherein the processor is configured to actuate the first steering nozzle in combination with the first reversing bucket to provide a reverse thrusting waterjet and to actuate the second steering nozzle in combination with the second reversing bucket to provide a forward thrusting waterjet, in response to transverse motion of the joystick, and wherein the processor is configured to provide an angle of the first steering nozzle, measured from a straight ahead position, that is less than or equal to an angle of the second steering nozzle, measured from the straight ahead position. 69. The system of claim 68, wherein the reverse thrusting waterjet is configured with a first revolutions per minute (RPM) value, and the forward thrusting waterjet is configured with a second RPM value, wherein the first RPM value is higher than the second RPM value. 70. The system of claim 56, wherein the first vessel control signal comprises two vessel control signals, each signal corresponding to a single degree of freedom of the first vessel control apparatus. 71. The system as claimed in claim 56, wherein the processor is further configured to point the first steering nozzle and the second steering nozzle to one of a port and starboard side in response to movement of the first vessel control apparatus along a transverse axis. 72. The method of claim 71, wherein the processor is further configured to point the first steering nozzle and the second steering nozzle to an opposite side of movement of the first vessel control apparatus along the transverse axis. 73. The system as claimed in claim 56, wherein the second vessel control apparatus has a rotational degree of freedom and provides the second vessel control signal corresponding to movement of the second vessel control apparatus along the rotational degree of freedom. 74. A system for controlling a marine vessel having a first steering nozzle, a reversing bucket and a second steering nozzle, comprising: a first vessel control apparatus having at least two degrees of freedom and providing a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal and that is configured to provide at least a first actuator control signal and a second actuator control signal; wherein the first actuator control signal is coupled to and controls the first steering nozzle and the second actuator control signal is coupled to and controls one of the second steering nozzle, the reversing bucket, and the bow thruster; wherein the processor is configured to provide the first actuator control signal and the second actuator control signal such that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; wherein the processor is configured to provide the first actuator control signal and the second actuator control signal so that a net force is induced to the marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom; and wherein the processor is configured to provide variations in transverse and longitudinal thrust to the marine vessel by varying a thrust magnitude of each propulsor corresponding to the first and second steering nozzles, while maintaining the first and second steering nozzles in the fixed position. 75. A system for controlling a marine vessel having first and second steering nozzles, and first and second reversing buckets, comprising: a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal, and that is configured to provide a first set of actuator control signals and a second set of actuator control signals; wherein the first set of actuator control signals are coupled to and control the first and second steering nozzles and the second set of actuator control signals are coupled to and control the first and second reversing buckets; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signal so that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals so that a net force is induced to marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom; wherein the first vessel control apparatus is a joystick; and wherein the processor is configured to control a combination of the first steering nozzle and the first reversing bucket and a combination of the second steering nozzle and the second steering bucket to induce substantially only a transverse force to the marine vessel with movement of the joystick along only a transverse axis and the second control apparatus being in a neutral position. 76. A system for controlling a marine vessel having first and second steering nozzles, and first and second reversing buckets, comprising: a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal, and that is configured to provide a first set of actuator control signals and a second set of actuator control signals; wherein the first set of actuator control signals are coupled to and control the first and second steering nozzles and the second set of actuator control signals are coupled to and control the first and second reversing buckets; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signal so that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals so that a net force is induced to marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom; and wherein the processor is configured to provide variations in transverse and longitudinal thrust to the marine vessel by varying a thrust magnitude of each propulsor corresponding to the first and second steering nozzles, while maintaining the first and second steering nozzles in a fixed position. 77. A marine vessel control system for a marine vessel comprising a first-steering nozzle and a bow thruster, the marine vessel control system comprising: a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and that is configured to provide at least a first actuator control signal and a second actuator control signal; wherein the first actuator control signal is coupled to and controls the first steering nozzle, and wherein the second actuator control signal is coupled to and controls the bow thruster; wherein the processor is configured to induce a net translational force to the vessel primarily in a direction corresponding to the movement of the vessel control apparatus, and such that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus; and wherein the processor is configured to provide the first actuator control signal and the second actuator control signal so that a net force is induced to the marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom. 78. The system of claim 77, wherein the processor is further configured to automatically record key parameters of any of the first steering nozzle and the bow thruster during a reference maneuver of the marine vessel. 79. The system of claim 78, wherein the processor is further configured to automatically implement the key parameters to control the marine vessel to perform a maneuver of the marine vessel that corresponds to the reference maneuver. 80. The system of claim 77, further comprising an input device coupled to the processor, and wherein the processor is further configured to record key parameters of any of the first steering nozzle and the bow thruster in response to actuation of the input device. 81. The system of claim 77, wherein the processor is programmed with at least one algorithm to provide the first and second actuator control signals in response to receiving the first vessel control signal as an input so as to induce the net translational force to the marine vessel substantially along the same direction as the first vessel control apparatus. 82. The system of claim 77, wherein the first vessel control apparatus comprises a two-axis control stick. 83. The system of claim 77, wherein the processor is configured to provide the first actuator control signal and the second actuator control signal such that a first axis of the two-axis control stick controls a net lateral force induced to the marine vessel and a second axis of the two-axis control stick controls a net fore-and-aft force induced to the marine vessel. 84. The system of claim 77, wherein the net force induced to the marine vessel and the movement of the first vessel control apparatus are in substantially similar directions with respect to a stationary frame of reference. 85. The system of claim 77, wherein the system includes a reversing bucket that is constrained to substantially only one degree of freedom to provide varying amounts of thrust. 86. The system of claim 77, wherein the processor is configured to provide the first actuator control signal and the second actuator control signal so as to simultaneously control a combination of the first steering nozzle and the bow thruster. 87. The system of claim 77, further comprising a reversing bucket, wherein the processor is configured to provide the first and second actuator control signals to provide a transverse thrust from a combination of the first steering nozzle and the reversing bucket and the bow thruster that are equal when the second vessel control apparatus is in a neutral position. 88. The system of claim 77, further comprising a reversing bucket, wherein the processor is configured in response to the second vessel control signal, to modify the first and second actuator control signals so as to create a differential thrust between a combination of the first steering nozzle and the reversing bucket and the bow thruster so as to induce a net rotational force to the marine vessel. 89. The system of claim 77, wherein the processor is configured, in response to the second vessel control signal, to induce a change in a deflection angle of the first-steering nozzle. 90. The system of claim 77, wherein the first vessel control signal comprises two vessel control signals, each signal corresponding to a single degree of freedom of the first vessel control apparatus. 91. The system of claim 77, wherein the first vessel control apparatus and the second vessel control apparatus comprise a three-axis controller. 92. A system for controlling a marine vessel having first and second steering nozzles, and first and second reversing buckets, comprising: a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom; a second vessel control apparatus having a third degree of freedom and providing a second vessel control signal corresponding to movement of the second vessel control apparatus along the third degree of freedom; and a processor that receives the first vessel control signal and the second vessel control signal, and that is configured to provide a first set of actuator control signals and a second set of actuator control signals; wherein the first set of actuator control signals are coupled to and control the first and second steering nozzles and the second set of actuator control signals are coupled to and control the first and second reversing buckets; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signal so that substantially no net rotational force is induced to the marine vessel as a result of movement of the first vessel control apparatus and with the second vessel control apparatus in a neutral position; wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals so that a net force is induced to marine vessel in substantially a same direction as movement of the first vessel control apparatus and the second vessel control apparatus, for all movements of the first vessel control apparatus along the at least two degrees of freedom and for all movements of the second vessel control apparatus along the third degree of freedom; and wherein the first vessel control apparatus and the second vessel control apparatus comprise a three-axis controller.
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이 특허에 인용된 특허 (20)
Ueno Tetsuo (Yokohama JPX), Apparatus for controlling the turn of ship.
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