Systems and methods for controlling movement of a marine vessel using first and second propulsion devices

Patent metadata

Field	Value
Publication number	US-9988134-B1
Application number	US-201615375615-A
Country	US
Kind code	B1
Filing date	Dec 12, 2016
Priority date	Dec 12, 2016
Publication date	Jun 5, 2018
Grant date	Jun 5, 2018

Abstract

Systems and methods are for controlling movement of a marine vessel extending along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, having a first propulsion device located closer to the stern than to the bow and steerable about a first steering axis perpendicular to the longitudinal and lateral axes, a second propulsion device located closer to the bow than to the stern and steerable about a second steering axis perpendicular to the longitudinal and lateral axes. An input device is configured to input a request for movement of the marine vessel. A control module is configured to control steering and thrust of the first and second propulsion devices to achieve a resultant movement of the marine vessel commensurate with the request for movement.

First claim

What is claimed is:

1. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:
a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; and
an input device configured to input a request for movement of the marine vessel to the control module;
wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
the request for movement of the marine vessel is a request for translation parallel to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes; and
the control module is configured to cause the first propulsion device and the second propulsion device to output:
opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, and
a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel.

2. The system according to claim 1 , wherein the control module is configured to operate the first propulsion device in a reverse gear to achieve the resultant movement of the marine vessel.

3. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:
a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; and
an input device configured to input a request for movement of the marine vessel to the control module;
wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
the request for movement of the marine vessel is a request for translation at an angle to the longitudinal axis and at an angle to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes, and
the control module is configured to cause the first propulsion device and the second propulsion device to output:
unmatched longitudinal thrust components that are parallel to the longitudinal axis, and
a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel.

4. A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:
a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis; and
an input device configured to input a request for movement of the marine vessel to the control module;
wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
the request for movement of the marine vessel is a request for translation parallel to the lateral axis, with yaw movement with respect to both the longitudinal axis and lateral axis; and
the control module is configured to cause the first propulsion device and the second propulsion device to output:
opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, and
a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thru

Assignees

• Brunswick Corp

Inventors

• Gable Kenneth G
• Malouf Travis C
• Dimig Joseph S
• Lemancik Michael J
• Figueroa Jr Jose B

Classifications

• B63H2020/003

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

• B63H2025/026

  using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring · CPC title

• B63H20/12 Primary

  Means enabling steering · CPC title

• B63H25/42

  Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers · CPC title

• B63H25/02

  Initiating means for steering {, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring} · CPC title