[특허]Method and apparatus for controlling a marine vessel

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특허 상세정보

MyON담기

내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Method and apparatus for controlling a marine vessel

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B63H-021/22 B63H-021/00
미국특허분류(USC)	440/001; 440/038
출원번호	UP-0567204 (2006-12-05)
등록번호	US-7601040 (2009-10-28)
발명자 / 주소	Morvillo, Robert A.
대리인 / 주소	Lando & Anastasi, LLP.
인용정보	피인용 횟수 : 5 인용 특허 : 29

초록
▼

One embodiment of the invention comprises a method for controlling a marine vessel having a first steerable propulsor, a corresponding first reversing device, a second steerable propulsor and a corresponding second reversing device. The method comprises receiving a first vessel control signal corresponding to a rotational movement and no translational movement command, generating at least a first actuator control signal and a second actuator control signal in response to the first vessel control signal, coupling the first actuator control signal to and controlling the first steerable propulsor and the second steerable propulsor, and coupling the second actuator control signal to and controlling the first reversing device and the second reversing device. The method creates rotational forces on the marine vessel with substantially no translational forces on the marine vessel.

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청구항
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What is claimed is: 1. A method for controlling a marine vessel having a first steering nozzle, a corresponding first integral reversing deflector, a second steering nozzle and a corresponding second integral reversing deflector, comprising: receiving a first vessel control signal corresponding to at least one of a translational thrust command and a rotational thrust command; generating with a first control process corresponding to the first and second steering nozzles and with a second control process corresponding to the first and second integral reversing deflectors, at least a first actuator control signal and a second actuator control signal in response to the first vessel control signal; coupling the first actuator control signal to and controlling at least one of the first steering nozzle and the second steering nozzle; coupling the second actuator control signal to and controlling at least one of the first integral reversing deflector and the second integral reversing deflector; inducing a net translational force to the marine vessel, in response to the first actuator control signal and the second actuator control signal corresponding to the first vessel control signal comprising only the translational thrust command and a zero rotational thrust command, so that substantially no net rotational force is induced to the marine vessel; inducing a net force to the marine vessel, in response to the first actuator control signal and the second actuator control signal comprising a combination of the translational thrust command and the rotational thrust command, substantially in a direction of a combination of the translational thrust command and the rotational thrust command for all combinations of the rotational and translational thrust commands; and flipping the first control process and the second control process in response to the first vessel control signal that corresponds to a full astern control command from the first vessel control signal that corresponds to a full ahead control command. 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 induce the net translational force to the marine vessel substantially in the same direction as the translational thrust command. 3. The method of claim 1, wherein the act of inducing a net force to the marine vessel comprises inducing only a net rotational force to the marine vessel without substantially inducing any net translational force to the marine vessel, in response to the first vessel control signal corresponding to a rotational thrust command. 4. The method of claim 1, further comprising an act of maintaining the first and second steering nozzles at a fixed position in response to the first vessel control signal corresponding to a translational thrust command in one of a port and starboard direction and a zero rotational force command. 5. The method of claim 1, wherein the act inducing a net force to the marine vessel in response to the first vessel control signal corresponding to a rotational thrust command, includes inducing a rotational force to the marine vessel without inducing any substantial translational force to the marine vessel. 6. 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 a first vessel control apparatus having at least two degrees of freedom of movement and that provides the two vessel control signals. 7. The method of claim 1, further comprising automatically detecting and storing key parameters of any of the first and second steering nozzles and the first and second integral reversing deflectors during a reference maneuver of the marine vessel. 8. The method of claim 7, further comprising implementing the key parameters to perform a maneuver of the marine vessel that corresponds to the reference maneuver. 9. The method of claim 1 further comprising recording key parameters of any of the first and second steering nozzles and the first and second integral reversing deflectors, in response to actuating an input device during a reference maneuver of the marine vessel. 10. The method of claim 1, wherein the act of receiving the first vessel control signal comprises receiving the first vessel control signal from a first vessel control apparatus having three degrees of freedom. 11. The method of claim 1, further comprising in response to the first vessel signal that corresponds to a rotational movement and no translational movement command, creating rotational forces on the marine vessel with substantially no translational forces on the marine vessel by pointing in the first and second steerable propulsors. 12. The method of claim 1, further comprising in response to the first vessel signal that corresponds to a rotational movement and no translational movement command, creating rotational forces on the marine vessel with substantially no translational forces on the marine vessel by applying differential RPM forces to the first and second steerable propulsors. 13. A method for controlling a marine vessel having a first steerable propulsor having a first thrust vector with a first thrust angle and a corresponding first reversing device that is configured to reverse thrust while maintaining the same first thrust angle, a second steerable propulsor having a second thrust vector with a second thrust angle and a corresponding second reversing device that is configured to reverse thrust while maintaining the same second thrust angle, comprising: receiving a first vessel control signal corresponding to at least one of a translational thrust command and a rotational thrust command; generating with a first control process corresponding to the first and second steerable propulsors and with a second control process corresponding to the first and second reversing devices, at least a first actuator control signal and a second actuator control signal in response to the first vessel control signal; coupling the first actuator control signal to and controlling at least one of the first steerable propulsor and the second steerable propulsor; coupling the second actuator control signal to and controlling at least one of the first reversing device and the second reversing device; inducing a net translational force to the marine vessel, in response to the first actuator control signal and the second actuator control signal corresponding to the first vessel control signal comprising only the translational thrust command and a zero rotational thrust command, so that substantially no net rotational force is induced to the marine vessel; inducing a net force to the marine vessel, in response to the first actuator control signal and the second actuator control signal comprising a combination of the translational thrust command and the rotational thrust command, substantially in a direction of a combination of the translational thrust command and the rotational thrust command for all combinations of the rotational and translational thrust commands and flipping the first control processes and the second control process in response to the first vessel control signal that corresponds to a full astern control command from the first vessel control signal that corresponds to a full ahead control command. 14. A method for controlling a marine vessel having a first steerable propulsor, a corresponding first reversing device, a second steerable propulsor and a corresponding second reversing device, comprising: receiving a first vessel control signal corresponding to a full astern control command; generating at least a first actuator control signal and a second actuator control signal in response to the first vessel control signal with a first control process for the first and second steerable propulsors and a second control process for the first and second integral reversing deflectors; coupling the first actuator control signal to and controlling at least one of the first steerable propulsor and the second steerable propulsor; coupling the second actuator control signal to and controlling at least one of the first reversing device and the second reversing device; and flipping the first control processes for the first and second steerable propulsors and the second control process for the first and second integral reversing deflectors for a first control signal that corresponds to a full astern command from the first vessel control signal that corresponds to a full ahead control command.

이 특허에 인용된 특허 (29)

이 특허를 인용한 특허 피인용횟수: 5

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특허 상세정보

Method and apparatus for controlling a marine vessel

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이 특허에 인용된 특허 (29)

이 특허를 인용한 특허 피인용횟수: 5

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특허 상세정보

Method and apparatus for controlling a marine vessel

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이 특허에 인용된 특허 (29)

이 특허를 인용한 특허 피인용횟수: 5

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IPC 상세정보(version : 201201)

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