Method and apparatus for controlling a waterjet-driven marine vessel
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B63H-025/46
B63H-011/11
B63H-011/113
B63H-021/21
B63H-025/02
B63H-011/00
출원번호
US-0187812
(2014-02-24)
등록번호
US-9290257
(2016-03-22)
발명자
/ 주소
Morvillo, Robert A.
출원인 / 주소
Morvillo, Robert A.
대리인 / 주소
Wolf, Greenfield & Sacks, P.C.
인용정보
피인용 횟수 :
0인용 특허 :
37
초록▼
A system for controlling a marine vessel having first and second steering nozzles and corresponding first and second reversing buckets, comprises a processor configured to receive a first vessel control signal including at least a component corresponding to a translational thrust command in a port d
A system for controlling a marine vessel having first and second steering nozzles and corresponding first and second reversing buckets, comprises a processor configured to receive a first vessel control signal including at least a component corresponding to a translational thrust command in a port direction, and that is configured to provide a set of actuator control signals coupled to and control the first and second reversing buckets. The processor is configured to provide the set of actuator control signals so as to maintain the first reversing bucket substantially in a first discrete position and the second reversing bucket substantially in a second discrete position as long as the first vessel control signal includes a component corresponding to a translational thrust command in the port direction.
대표청구항▼
1. A method for controlling a marine vessel, the marine vessel comprising a first engine, a first laterally-fixed reversing deflector corresponding to the first engine, a second engine, and a second laterally-fixed reversing deflector corresponding to the second engine, the method comprising: receiv
1. A method for controlling a marine vessel, the marine vessel comprising a first engine, a first laterally-fixed reversing deflector corresponding to the first engine, a second engine, and a second laterally-fixed reversing deflector corresponding to the second engine, the method comprising: receiving a first translational thrust command having a first non-zero magnitude in a port direction of the marine vessel and a second magnitude in a forward or in a reverse direction of the marine vessel;after receiving the first translational thrust command, receiving a second translational thrust command having a third non-zero magnitude in the port direction of the marine vessel and a fourth magnitude in the forward or in the reverse direction of the marine vessel, the third non-zero magnitude being different from the first non-zero magnitude and/or the fourth magnitude being different from the second magnitude; andin response to receiving the second translational thrust command: controlling revolutions per minute (RPM) of the first engine, RPM of the second engine, the first laterally-fixed reversing deflector, and/or the second laterally-fixed reversing deflector to change an amount of thrust applied to the marine vessel in the port direction without inducing rotational force to the marine vessel. 2. The method of claim 1, wherein the controlling comprises: controlling, independently of the fourth magnitude, the first laterally-fixed reversing deflector to remain in a first position and the second laterally-fixed reversing deflector to remain in a second position. 3. The method of claim 1, wherein the controlling comprises: controlling, based at least in part on the fourth magnitude, revolutions per minute (RPM) of the first engine and/or RPM of the second engine. 4. The method of claim 1, wherein when the fourth magnitude is greater than the second magnitude, controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine to increase. 5. The method of claim 1, wherein when the fourth magnitude is less than the second magnitude, controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine to decrease. 6. The method of claim 1, wherein controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine in proportion to the fourth magnitude of the second translational thrust command. 7. The method of claim 1, further comprising: positioning, in response to receiving the first translational thrust command, the first laterally-fixed reversing deflector in the first position and the second laterally-fixed reversing deflector in the second position. 8. The method of claim 7, wherein the positioning comprises positioning the first reversing laterally-fixed deflector in a reversing position. 9. The method of claim 2, wherein controlling, independently of the fourth magnitude of the second translational thrust command, the first laterally-fixed reversing deflector to remain in the first position and the second laterally-fixed reversing deflector to remain in the second position, comprises: controlling, independently of a continuous range of values of the fourth magnitude of the second translational thrust command, the first laterally-fixed reversing deflector to remain in the first position and the second laterally-fixed reversing deflector to remain in the second position. 10. The method of claim 9, wherein the continuous range of values includes zero. 11. The method of claim 1, wherein the marine vessel further comprises a first steering nozzle and a second steering nozzle, wherein the controlling further comprises controlling the first steering nozzle and the second steering nozzle to remain in their respective positions. 12. A system for controlling a marine vessel, the marine vessel comprising a first engine, a first reversing deflector corresponding to the first engine, a second engine, and a second reversing deflector corresponding to the second engine, the system comprising: at least one processor configured to perform: receiving a first translational thrust command having a first non-zero magnitude in a port direction of the marine vessel and a second magnitude in a forward or in a reverse direction of the marine vessel;after receiving the first translational thrust command, receiving a second translational thrust command having a third non-zero magnitude in the port direction of the marine vessel and a fourth magnitude in the forward or in the reverse direction of the marine vessel, the third non-zero magnitude being different from the first non-zero magnitude and/or the fourth magnitude being different from the second magnitude; andin response to receiving the second translational thrust command: controlling revolutions per minute (RPM) of the first engine, RPM of the second engine, the first laterally-fixed reversing deflector, and/or the second laterally-fixed reversing deflector to change an amount of thrust applied to the marine vessel in the port direction without inducing rotational force to the marine vessel. 13. The system of claim 12, wherein the controlling comprises: controlling, independently of the fourth magnitude, the first laterally-fixed reversing deflector to remain in a first position and the second laterally-fixed reversing deflector to remain in a second position. 14. The system of claim 12, wherein the controlling further comprises: controlling, based at least in part on the fourth magnitude, revolutions per minute (RPM) of the first engine and/or RPM of the second engine. 15. The system of claim 12, wherein when the fourth magnitude is greater than the second magnitude, controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine to increase. 16. The system of claim 12, wherein when the fourth magnitude is less than the second magnitude, controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine to decrease. 17. The system of claim 12, wherein controlling the RPM of the first engine and/or the RPM of the second engine comprises controlling the RPM of the first engine and/or the RPM of the second engine in proportion to the fourth magnitude of the second translational thrust command. 18. The system of claim 12, wherein the at least one processor is configured to perform: positioning, in response to receiving the first translational thrust command, the first laterally-fixed reversing deflector in the first position and the second laterally-fixed reversing deflector in the second position. 19. The system of claim 18, wherein the positioning comprises positioning the first laterally-fixed reversing deflector in a reversing position. 20. The system of claim 13, wherein controlling, independently of the fourth magnitude of the second translational thrust command, the first laterally-fixed reversing deflector to remain in the first position and the second laterally-fixed reversing deflector to remain in the second position, comprises: controlling, independently of a continuous range of values of the fourth magnitude of the second translational thrust command, the first laterally-fixed reversing deflector to remain in the first position and the second reversing deflector to remain in the second position. 21. The system of claim 20, wherein the continuous range of values includes zero. 22. The system of claim 12, wherein the marine vessel further comprises a first steering nozzle and a second steering nozzle, wherein the controlling further comprises controlling the first steering nozzle and the second steering nozzle to remain in their respective positions.
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