Methods and systems for controlling trim rate of trimmable marine devices with respect to a marine vessel

Patent metadata

Field	Value
Publication number	US-11262767-B2
Application number	US-201916731803-A
Country	US
Kind code	B2
Filing date	Dec 31, 2019
Priority date	Dec 31, 2019
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

A method of controlling tilt-trim position of a trimmable device on a marine vessel includes receiving an engine speed, a vessel speed, a vessel pitch, and/or a vessel acceleration. A trim rate is then determined based on the engine speed, the vessel speed, the vessel pitch, and/or the vessel acceleration. The trim rate specifies a rate of rotation of the trimmable device about a horizontal axis, and the trim rate is determined such that the rate of rotation is minimized at high vessel speeds and high engine speeds and the rate of rotation is maximized at low vessel speeds and low engine speeds. A variable speed trim actuator is then controlled to rotate the trimmable device based on the trim rate so as to adjust a trim position of the trimmable device.

First claim

We claim:

1. A method of controlling trim position of a trimmable device on a marine vessel, the method comprising:
receiving an engine speed measured by an engine speed sensor;
receiving a vessel speed measured by a vessel speed sensor for the marine vessel;
receiving a vessel pitch and/or vessel acceleration of the marine vessel measured by a vessel motion sensor;
determining, at a controller, a trim rate based on a measured trim position of the trimmable device and the engine speed, the vessel speed, the vessel pitch, and/or vessel acceleration, wherein trim rate specifies a rate of rotation of the trimmable device about a horizontal axis, and wherein the trim rate is determined such that the rate of rotation is minimized at high vessel speeds and high engine speeds and the rate of rotation is maximized at low vessel speeds and low engine speeds; and
controlling a variable speed trim actuator to rotate the trimmable device based on the trim rate so as to adjust a trim position of the trimmable device.

2. The method of claim 1 , further comprising:
receiving a user input instructing a direction of adjustment of the trim position of the trimmable device in one of a trim increase direction or a trim decrease direction;
wherein controlling the variable speed trim actuator includes rotating the trimmable device about the horizontal axis in the direction of adjustment based on the trim rate.

3. The method of claim 1 , further comprising:
detecting a vessel acceleration event of the marine vessel; and
upon detecting the vessel acceleration event, controlling the variable speed trim actuator to adjust the trim position of the trimmable device at a predefined trim rate until the trimmable device reaches a predetermined trim position or until the vessel acceleration event has ended.

4. The method of claim 3 , wherein the vessel acceleration event is detected when the vessel pitch of the marine vessel exceeds a threshold vessel pitch, a throttle demand input exceeds a threshold throttle demand, or the measured vessel acceleration exceeds a threshold vessel acceleration.

5. The method of claim 3 , wherein the predefined trim rate is a maximum trim rate and further comprising detecting that the vessel acceleration event has ended when the vessel pitch is less than a threshold vessel pitch and/or the measured vessel acceleration is less than a threshold vessel acceleration and, thereafter, automatically determining the trim rate based on the vessel speed and the engine speed.

6. The method of claim 1 , further comprising detecting that an engine operation state of at least one engine on the marine vessel is running and that no vessel acceleration event is occurring prior to determining the trim rate based on the vessel speed and the engine speed.

7. The method of claim 1 , wherein determining the trim rate includes accessing a table providing trim rate as a function of engine speed and vessel speed.

8. The method of claim 1 , determining a trim rate multiplier based on the measured trim position, wherein the trim rate multiplier is a value between zero and one and wherein the trim rate multiplier decreases as the trimmable device approaches a maximum position or a minimum position; and
determining a reduced trim rate based on the trim rate and the trim rate multiplier so as to slow the rotation of the trimmable device as the trimmable device approaches the maximum position or the minimum position.

9. A method of controlling tilt-trim position of a trimmable device on a marine vessel, the method comprising:
receiving a vessel speed of the marine vessel and an engine speed and/or an engine operation state for an engine on the marine vessel;
determining, at a controller, a trim rate based on at least one of the engine speed, the vessel speed, and the engine operation state, wherein trim rate specifies a rate of rotation of the trimmable device about a horizontal axis;
measuring a trim position of the trimmable device;
determining a trim rate multiplier based on the measured trim position, wherein the trim rate multiplier is a value between zero and one and wherein the trim rate multiplier decreases as the trimmable device approaches a maximum position or a minimum position;
determining a reduced trim rate based on the trim rate multiplier; and
controlling a variable speed trim actuator to rotate the trimmable device based on the reduced trim rate as the trimmable device approaches the maximum position or the minimum position.

10. The method of claim 9 , further comprising:
receiving a user input instructing a direction of adjustment of the trim position of the trimmable device in one of a trim increase direction or a trim decrease direction;
wherein controlling the variable speed trim actuator includes rotating the trimmable device about the horizontal trim axis at the reduced trim rate and in the direction of adjustment.

11. The method of claim 9 , wherein determining the trim rate includes accessing a table providing trim rate as a function of engine speed and vessel speed.

12. A variable speed trim system on a marine vessel, the system comprising:
a trimmable device;
a variable speed trim actuator configured to rotate the trimmable device about a horizontal axis so as to adjust a trim position of the trimmable device;
a controller configured to:
determine a trim rate based on a measured trim position of the trimmable device and at least one of a vessel speed of the marine vessel and an engine speed of an engine on the marine vessel, wherein trim rate specifies a rate of rotation of the trimmable device about the horizontal axis, and wherein the trim rate is determined such that the rate of rotation is minimized at high vessel speeds and high engine speeds and the rate of rotation is maximized at low vessel speeds and low engine speeds; and
control the variable speed trim actuator to rotate the trimmable device based on the trim rate so as to adjust a trim position of the trimmable device.

13. The system of claim 12 , further comprising a user input device configured to receive a user input instructing a direction of adjustment of the trim position of the trimmable device in one of a trim increase direction or a trim decrease direction, and wherein the controller is configured to control the variable speed trim actuator so as to rotate the trimmable device about the horizontal trim axis in the direction of adjustment based on the trim rate.

14. The system of claim 12 , further comprising a table stored on a storage device that provides trim rate as a function of engine speed and vessel speed, wherein the controller is configured to determine the trim rate based on the table.

15. The system of claim 12 , wherein the controller is further configured to:
detect a vessel acceleration event based on at least one of a throttle demand input, a measured vessel acceleration, or a vessel pitch;
control the variable speed trim actuator to adjust the trim position of the trimmable device at a maximum trim rate until the trimmable device reaches a predetermined trim position or until the vessel acceleration event has ended.

16. The system of claim 15 , wherein the controller is further configured to determine when the vessel acceleration event has ended based on the measured vessel acceleration or the vessel pitch and, thereafter, automatically determine the trim rate based on the vessel speed and the engine speed.

17. The system of claim 12 , wherein the controller is further configured to:
determine a trim rate multiplier based on the measured trim position, wherein the

Assignees

• Brunswick Corp

Inventors

• Karnick Kyle F
• Przybyl Andrew J
• Anschuetz Steven M

Classifications

• G05D1/49

  Control of attitude, i.e. control of roll, pitch or yaw · CPC title

• G05D1/227

  Handing over between remote control and on-board control; Handing over between remote control arrangements · CPC title

• B63H20/10 Primary

  Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt · CPC title

• B63H20/106

  Means enabling lifting of the propulsion element in a substantially vertical, linearly sliding movement · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title