A marine vessel control system that includes at least one primary marine propulsory mechanism providing a thrust vector and being movably attached to the vessel. An actuating system is coupled to the at least one primary marine propulsory mechanism manipulating the orientation of the thrust vector.
A marine vessel control system that includes at least one primary marine propulsory mechanism providing a thrust vector and being movably attached to the vessel. An actuating system is coupled to the at least one primary marine propulsory mechanism manipulating the orientation of the thrust vector. At least one servo control is linked with the actuating system. At least one attitude sensor provides a signal that indicates the attitude of the vessel. A central control computer is operatively coupled to the actuating system, the servo control and the attitude sensor. The central control computer controls the actuation of the at least one primary marine propulsory mechanism's thrust vector in response to the signal from the attitude sensor indicating the attitude of the vessel. The attitude, stability and motion damping and at least one of the pitch, roll and yaw axes of the vessel is controlled.
대표청구항▼
1. A control system comprising: an attitude sensor configured to generate a signal indicative of changes in an attitude of a marine vessel due to an environmental input to the marine vessel, wherein the attitude of the marine vessel changes at a first rate based on the environmental input;a first pr
1. A control system comprising: an attitude sensor configured to generate a signal indicative of changes in an attitude of a marine vessel due to an environmental input to the marine vessel, wherein the attitude of the marine vessel changes at a first rate based on the environmental input;a first propulsion mechanism attached to the marine vessel and having a first thrust vector;an actuator system configured to actuate the first propulsion mechanism at a second rate, wherein the second rate is greater than the first rate, and wherein the actuating of the first propulsion mechanism at the second rate changes a direction of the first thrust vector; anda computer configured to, based on the signal and in response to the changes in the attitude, damp angular motion of the marine vessel to reduce the first rate including controlling the actuator system to change a first direction of the first thrust vector at the second rate to stabilize the marine vessel. 2. The control system of claim 1, wherein the computer is configured to adjust the attitude of the marine vessel to damp pitch motion of the marine vessel. 3. The control system of claim 1, wherein the computer is configured to adjust the attitude of the marine vessel to damp roll motion of the marine vessel. 4. The control system of claim 1, wherein the computer is configured to adjust the attitude of the marine vessel to damp yaw motion of the marine vessel. 5. The control system of claim 1, wherein the first propulsion mechanism comprises a propeller or a water jet. 6. The control system of claim 1, wherein the second rate is at least a predetermined number of times greater than the first rate. 7. The control system of claim 1, further comprising a second propulsion mechanism having a second thrust vector, wherein: the actuator system is configured to actuate the second propulsion mechanism;the computer is configured to, based on the signal and in response to the changes in the attitude, damp the angular motion of the marine vessel to reduce the first rate including controlling the actuator system to differentially actuate (i) the first propulsion mechanism at the second rate to adjust the first direction of the first thrust vector, and (ii) the second propulsion mechanism at a third rate to adjust a second direction of the second thrust vector; andthe third rate is greater than the first rate. 8. The control system of claim 7, wherein the computer is configured to, via the actuator system, (i) actuate the first propulsion mechanism such that the first thrust vector is at a positive pitch angle relative to a first pitch axis, and (ii) actuate the second propulsion mechanism such that the second thrust vector is at a negative pitch angle relative to a second pitch axis. 9. The control system of claim 7, wherein the computer is configured to, via the actuator system, (i) actuate the first propulsion mechanism such that the first thrust vector is at a positive yaw angle relative to a first yaw axis of the marine vessel, and (ii) actuate the second propulsion mechanism such that the second thrust vector is at a negative yaw angle relative to a second yaw axis. 10. The control system of claim 7, wherein the computer is configured to, via the actuator system, actuate the first propulsion mechanism independent of the second propulsion mechanism. 11. The control system of claim 1, wherein the computer is configured to, while controlling the actuator system to adjust the attitude of the marine vessel, attenuate a value of a resonant response of the marine vessel. 12. The control system of claim 1, further comprising a first hydrodynamic effector attached to the marine vessel, wherein: the computer is configured to, based on the signal and in response to the changes in the attitude, damp the angular motion of the marine vessel to reduce the first rate including controlling the actuator system to change a first position of the first hydrodynamic effector at a third rate to stabilize the marine vessel;the third rate is greater than the first rate; andthe first hydrodynamic effector comprises a trim tab, interceptor, or a hydrofoil. 13. The control system of claim 12, further comprising a second hydrodynamic effector attached to the marine vessel, wherein: the computer is configured to, based on the signal and in response to the changes in the attitude, damp the angular motion of the marine vessel to reduce the first rate including controlling the actuator system to change a second position of the second hydrodynamic effector at a fourth rate to stabilize the marine vessel;the fourth rate is greater than the first rate; andthe second hydrodynamic effector comprises a trim tab, interceptor, or a hydrofoil. 14. The control system of claim 13, further comprising a second propulsion mechanism attached to the marine vessel and having a corresponding second thrust vector, wherein: the actuator system is configured to actuate the second propulsion mechanism; andthe computer is configured to, while adjusting the attitude of the marine vessel and damping the angular motion of the marine vessel, control the actuator system to(i) adjust pitch of the marine vessel by changing the first direction of the first thrust vector and a second direction of the second thrust vector, and (ii) adjust roll of the marine vessel by changing the first position of the first hydrodynamic effector and the second position of the second hydrodynamic effector, or (a) adjust pitch of the marine vessel by changing the first position of the first hydrodynamic effector and the second position of the second hydrodynamic effector, and (b) adjust roll of the marine vessel by changing the first direction of the first thrust vector and the second direction of the second thrust vector. 15. A control system comprising: an attitude sensor configured to generate a signal indicative of an attitude of a marine vessel;a first propulsion mechanism attached to the marine vessel and having a corresponding first thrust vector;a second propulsion mechanism attached to the marine vessel and having a corresponding second thrust vector;an actuator system configured to actuate the first propulsion mechanism and the second propulsion mechanism; anda computer configured to, based on the signal and during a turn of the marine vessel, control the actuator system to differentially actuate the first propulsion mechanism and the second propulsion mechanism, wherein the differential actuation of the first propulsion mechanism and the second propulsion mechanism comprises changing the first thrust vector or the second thrust vector to maintain a roll angle of the marine vessel at a predetermined roll angle throughout at least a portion of the turn of the marine vessel. 16. The control system of claim 15, wherein the computer is configured to, based on the signal and while adjusting yaw motion of the marine vessel, control the actuator system to differentially actuate the first propulsion mechanism relative to the second propulsion mechanism such that the first propulsion mechanism is at a positive angle relative to a first pitch axis and the second propulsion mechanism is at a negative angle relative to a second pitch axis. 17. The control system of claim 15, wherein the predetermined roll angle is 0 degrees such that the turn is a flat turn. 18. The control system of claim 15, further comprising a plurality of hydrodynamic effectors attached to the marine vessel, wherein the computer is configured to, based on the signal and during the turn, control the actuator system to differentially actuate the plurality of hydrodynamic effectors to maintain the roll angle of the marine vessel at the predetermined roll angle throughout the at least the portion of the turn of the marine vessel. 19. The control system of claim 18, wherein: the signal is indicative of changes in the attitude due to an environmental input to the marine vessel, wherein the attitude of the marine vessel changes at a first rate based on the environmental input;the computer is configured to, during the turn, (i) actuate the first propulsion mechanism or the second propulsion mechanism at a second rate, and (ii) actuate one of the plurality of hydrodynamic effectors at a third rate; andthe second rate and the third rate are each greater than the first rate. 20. A control system comprising: an attitude sensor configured to generate a signal indicative of an attitude of a marine vessel;a propulsion mechanism attached to the marine vessel and having a corresponding thrust vector;a plurality of hydrodynamic effectors attached to the marine vessel;an actuator system configured to actuate the propulsion mechanism and each of the plurality of hydrodynamic effectors, wherein the actuating of the propulsion mechanism changes a direction of the thrust vector; anda computer configured to, based on the signal and during a turn of the marine vessel, control the actuator system to actuate the propulsion mechanism and differentially actuate the plurality of hydrodynamic effectors, wherein the actuation of the propulsion mechanism and the differential actuation of the plurality of hydrodynamic effectors comprise changing the thrust vector and positions of the plurality of hydrodynamic effectors to maintain a roll angle of the marine vessel at a predetermined roll angle throughout at least a portion of the turn of the marine vessel. 21. A control system comprising: an attitude sensor configured to generate a signal indicative of changes in an attitude of a marine vessel due to an operator input or a change in a weight distribution of the marine vessel, wherein the attitude of the marine vessel changes at a first rate based on the operator input or the change in the weight distribution of the marine vessel;a first propulsion mechanism attached to the marine vessel and having a first thrust vector;an actuator system configured to actuate the first propulsion mechanism at a second rate, wherein the second rate is greater than the first rate, and wherein the actuating of the first propulsion mechanism at the second rate changes a direction of the first thrust vector; anda computer configured to, based on the signal and in response to the changes in the attitude, damp angular motion of the marine vessel to reduce the first rate including controlling the actuator system to change a first direction of the first thrust vector at the second rate to stabilize the marine vessel. 22. The control system of claim 21, wherein the change in weight distribution of the marine vessel is due to a shift in a load aboard the marine vessel. 23. The control system of claim 21, further comprising a plurality of hydrodynamic effectors, wherein the computer is configured to, in damping angular motion of the marine vessel to reduce the first rate and based on the signal and in response to the changes in the attitude, control the actuator system to change the first direction of the first thrust vector and differentially actuate the plurality of hydrodynamic effectors to stabilize the marine vessel.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (7)
Mapes Charles W. (Oshkosh WI), Automatic engine lift for outboard motors.
Rydberg, Anders; Wiklund, Johan, Method for controlling a boat comprising a pivotable drive unit, and a electronic vessel control unit for steering a boat.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.