Systems and methods for continuously adapting a toe angle between marine propulsion devices

Patent metadata

Field	Value
Publication number	US-9932098-B1
Application number	US-201514843439-A
Country	US
Kind code	B1
Filing date	Sep 2, 2015
Priority date	Sep 2, 2015
Publication date	Apr 3, 2018
Grant date	Apr 3, 2018

Abstract

Systems and methods for reducing steering pressures of marine propulsion device steering actuators are disclosed. First and second sensors sense first and second conditions of first and second steering actuators. A third sensor senses an operating characteristic of the marine vessel. A controller is in signal communication with the first, second, and third sensors. In response to the marine vessel travelling generally straight ahead, the controller determines a target toe angle between the first and second marine propulsion devices based on the operating characteristic. The controller commands the first and second steering actuators to position the first and second marine propulsion devices at the target toe angle. The controller thereafter gradually adapts the target toe angle between the first and second marine propulsion devices until the controller determines that an absolute difference between the first condition and the second condition reaches a calibrated value.

First claim

What is claimed is:

1. A system for reducing steering pressures of two or more steering actuators positioning two or more respective marine propulsion devices coupled to a marine vessel, the system comprising:
a first sensor sensing a first condition indicative of a first pressure in a first steering actuator positioning a first marine propulsion device;
a second sensor sensing a second condition indicative of a second pressure in a second steering actuator positioning a second marine propulsion device;
a third sensor sensing an operating characteristic of the marine vessel; and
a controller in signal communication with the first, second, and third sensors and receiving the first condition, the second condition, and the operating characteristic therefrom;
wherein in response to the controller determining that the marine vessel is travelling generally straight ahead, the controller does the following:
(a) determines a target toe angle between the first and second marine propulsion devices based on the operating characteristic;
(b) commands the first and second steering actuators to position the first and second marine propulsion devices at the target toe angle;
(c) calculates an absolute difference between the first pressure in the first steering actuator and the second pressure in the second steering actuator;
(d) determines whether an actual toe angle between the first and second marine propulsion devices should be increased or decreased in order to reduce the absolute difference between the first and second pressures;
(e) thereafter commands the first and second steering actuators to increase or decrease the actual toe angle based on the determination in step (d);
(f) thereafter repeats steps (c), (d), and (e) until determining that the absolute difference between the first and second pressures is reduced to a calibrated target pressure value; and
(g) in response to the absolute difference reaching the calibrated target pressure value, ceases to command the first and second steering actuators to increase or decrease the actual toe angle.

2. The system of claim 1 , wherein the controller determines first and second directions of pressure in the respective first and second steering actuators, and performs step (d) based on the first and second directions of pressure.

3. The system of claim 2 , wherein the first and second steering actuators are hydraulic actuators and include respective first and second hydraulic cylinders coupled via first and second control valves to respective first and second pump-motor combinations.

4. The system of claim 3 , wherein the controller determines the first and second directions of pressure in the respective first and second steering actuators based on signs of first and second currents provided to the respective first and second control valves.

5. The system of claim 4 , wherein the first and second sensors are pressure sensors sensing first and second magnitudes of pressure in the respective first and second steering actuators.

6. The system of claim 4 , wherein the first and second sensors are current sensors sensing first and second currents provided to the respective first and second pump-motor combinations; and
wherein the controller calculates first and second magnitudes of pressure in the respective first and second steering actuators based on the first and second currents provided to the respective first and second pump-motor combinations.

7. The system of claim 1 , further comprising an input device providing a desired turning angle of the marine vessel to the controller;
wherein the controller determines that the marine vessel is travelling generally straight ahead in response to the desired turning angle being within a given deadband of zero; and
wherein the controller performs step (f) only as long as the marine vessel is travelling generally straight ahead.

8. The system of claim 1 , wherein the operating characteristic is a speed of the marine vessel.

9. The system of claim 1 , wherein the controller saves an actual toe angle at which the absolute difference between the first and second pressures reaches the calibrated target pressure value as an updated target toe angle associated with a particular value of the operating characteristic.

10. The system of claim 1 , wherein the controller determines a rate at which to increase or decrease the actual toe angle based on the absolute difference between the first and second pressures.

11. A method for reducing steering pressures of two or more steering actuators positioning two or more respective marine propulsion devices coupled to a marine vessel, the method comprising:
sensing a first condition indicative of a first pressure in a first steering actuator positioning a first marine propulsion device;
sensing a second condition indicative of a second pressure in a second steering actuator positioning a second marine propulsion device;
sensing an operating characteristic of the marine vessel;
determining with a controller whether the marine vessel is travelling generally straight ahead; and
in response to determining that the marine vessel is travelling generally straight ahead:
(a) with the controller, determining a target toe angle between the first and second marine propulsion devices based on the operating characteristic;
(b) with the controller, commanding the first and second steering actuators to position the first and second marine propulsion devices at the target toe angle;
(c) with the controller, calculating an absolute difference between the first pressure in the first steering actuator and the second pressure in the second steering actuator;
(d) with the controller, determining whether an actual toe angle between the first and second marine propulsion devices should be increased or decreased in order to reduce the absolute difference between the first and second pressures;
(e) with the controller, commanding the first and second steering actuators to increase or decrease the actual toe angle based on the determination in step (d);
(f) thereafter repeating steps (c), (d), and (e) until determining that the absolute difference between the first and second pressures is reduced to a calibrated target pressure value; and
(g) in response to the absolute difference reaching the calibrated target pressure value, ceasing to command the first and second steering actuators to increase or decrease the actual toe angle.

12. The method of claim 11 , further comprising determining first and second directions of pressure in the respective first and second steering actuators with the controller, and performing step (d) based on the first and second directions of pressure.

13. The method of claim 12 , wherein the first and second steering actuators are hydraulic actuators and include respective first and second hydraulic cylinders coupled via first and second control valves to respective first and second pump-motor combinations; and further comprising:
with the controller, determining the first and second directions of pressure in the respective first and second steering actuators based on signs of first and second currents provided to the respective first and second control valves;
with first and second pressure sensors, sensing first and second magnitudes of pressure in the respective first and second steering actuators;
with the controller, determining the absolute difference between the first and second pressures based on the first and second magnitudes of pressure and based on the first and second directions of pressure; and
with the controller, determining a rate at which to increase or decrease the actual toe angle based on the

Assignees

• Brunswick Corp

Inventors

• Andrasko Steven J
• Gable Kenneth G
• Lemancik Michael J

Classifications

• G05D1/0206

  specially adapted to water vehicles · CPC title

• B63H2020/003

  Arrangements of two, or more outboard propulsion units · CPC title

• B63H20/12 Primary

  Means enabling steering · CPC title