# US 11,993,357 B2 · Marine propulsion control system and marine vessel capable of performing dynamic positioning control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,357 B2 - Document ID: US11993357B2 - Status: Granted - Kind: B2 - Application number: 17/669,401 - Filed: 2022-02-11 - Published: 2022-09-01 - Granted: 2024-05-28 - Earliest claimed: 2021-02-26 - Assignees: Yamaha Hatsudoki Kabushiki Kaisha - Applicants: Yamaha Hatsudoki Kabushiki Kaisha - Inventors: Yuji Ikegaya - Web page: https://patentgrep.com/patent/US11993357B2 ## CPC - B63H 20/12: Means enabling steering - B63B 79/40: for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules - B63H 25/42: 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 - G05D 1/0206: {specially adapted to water vehicles} - G05D 1/43: Control of position or course in two dimensions [2D] - B63H 2021/216: {using electric control means} - B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00) - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A propulsion control system for a marine vessel includes a memory and a controller coupled to the memory. The controller is configured or programmed to, while performing dynamic positioning control of the marine vessel or in a case in which the marine vessel has changed to a mode in which the marine vessel is kept at a certain location, perform deceleration control to reduce a bow direction speed of the marine vessel. Alternatively, the controller is configured or programmed to, in a case in which the marine vessel has changed to a mode in which the marine vessel moves along a predetermined route, when the marine vessel deviates from the predetermined route in a bow direction of the marine vessel, perform deceleration control to prevent the marine vessel from moving in the bow direction. ## Claims ### Claim 1 A propulsion control system for a marine vessel including at least one power source to generate thrust, the propulsion control system comprising: a memory; a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and while performing dynamic positioning control of the marine vessel, perform deceleration control to reduce a bow direction speed of the marine vessel; and at least one power source controller to control the at least one power source; wherein the controller is configured or programmed to transmit, to the at least one power source controller, a total value of a first control value corresponding to a thrust of the at least one power source necessary to perform the dynamic positioning control, and a second control value corresponding to the thrust of the at least one power source necessary to perform the deceleration control. ### Claim 2 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to acquire the bow direction speed of the marine vessel, and perform the deceleration control in a case in which the bow direction speed of the marine vessel is a first predetermined speed or more. ### Claim 3 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to adjust the first control value and the second control value so that the at least one power source generates thrust based on the total value in a direction opposite to a bow direction of the marine vessel. ### Claim 4 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to determine whether or not to perform the deceleration control according to information about specifications of the at least one power source and a number of the at least one power source provided on the marine vessel. ### Claim 5 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to change the second control value so that a thrust of the at least one power source necessary to perform the deceleration control gradually increases at a start of the deceleration control. ### Claim 6 (depends on 5) The propulsion control system according to claim 5, wherein an increase change rate of the thrust of the at least one power source necessary to perform the deceleration control varies according to specifications of the marine vessel. ### Claim 7 (depends on 5) The propulsion control system according to claim 5, wherein the controller is configured or programmed to maintain the thrust of the at least one power source necessary to perform the deceleration control at a predetermined value, when the increasing thrust of the at least one power source necessary to perform the deceleration control reaches the predetermined value while performing the deceleration control. ### Claim 8 (depends on 7) The propulsion control system according to claim 7, wherein the predetermined value varies according to the specifications of the at least one power source. ### Claim 9 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to end the deceleration control when the bow direction speed of the marine vessel becomes equal to or less than a second predetermined speed while performing the deceleration control. ### Claim 10 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to end the deceleration control when a duration of the deceleration control reaches a predetermined period of time or more. ### Claim 11 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to perform the dynamic positioning control even after ending the deceleration control. ### Claim 12 (depends on 1) The propulsion control system according to claim 1, wherein the controller is configured or programmed to maintain steering of the marine vessel at a neutral position while performing the deceleration control. ### Claim 13 A propulsion control system for a marine vessel including at least one power source to generate thrust, the propulsion control system comprising: a memory; and a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and while performing dynamic positioning control of the marine vessel, perform deceleration control to reduce a bow direction speed of the marine vessel; wherein the controller is configured or programmed to end the deceleration control when a duration of the deceleration control reaches a predetermined period of time or more, and the predetermined period of time varies according to a number of the at least one power source provided on the marine vessel. ### Claim 14 A propulsion control system for a marine vessel including at least one power source to generate thrust, the propulsion control system comprising: a memory; and a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and while performing dynamic positioning control of the marine vessel, perform deceleration control to reduce a bow direction speed of the marine vessel; wherein the controller is configured or programmed to end the deceleration control when a target position of the marine vessel for the dynamic positioning control is moved in a bow direction of the marine vessel. ### Claim 15 A propulsion control system for a marine vessel including at least one power source to generate thrust, the propulsion control system comprising: a memory; a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and in a case in which the marine vessel has changed to a mode in which the marine vessel is kept at a certain location, perform deceleration control to reduce a bow direction speed of the marine vessel; and at least one power source controller to control the at least one power source; wherein the controller is configured or programmed to transmit, to the at least one power source controller, a total value of a first control value corresponding to a thrust of the at least one power source necessary to perform the dynamic positioning control, and a second control value corresponding to the thrust of the at least one power source necessary to perform the deceleration control. ### Claim 16 A marine vessel comprising: at least one power source to generate thrust; a memory; a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and while performing dynamic positioning control of the marine vessel, perform deceleration control to reduce a bow direction speed of the marine vessel; and at least one power source controller to control the at least one power source; wherein the controller is configured or programmed to transmit, to the at least one power source controller, a total value of a first control value corresponding to a thrust of the at least one power source necessary to perform the dynamic positioning control, and a second control value corresponding to the thrust of the at least one power source necessary to perform the deceleration control. ### Claim 17 A marine vessel comprising: at least one power source to generate thrust; a memory; a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and in a case in which the marine vessel has changed to a mode in which the marine vessel is kept at a certain location, perform deceleration control to reduce a bow direction speed of the marine vessel; and at least one power source controller to control the at least one power source; wherein the controller is configured or programmed to transmit, to the at least one power source controller, a total value of a first control value corresponding to a thrust of the at least one power source necessary to perform the dynamic positioning control, and a second control value corresponding to the thrust of the at least one power source necessary to perform the deceleration control. ### Claim 18 A propulsion control system for a marine vessel including at least one power source to generate thrust, the propulsion control system comprising: a memory; and a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the at least one power source; and in a case in which the marine vessel has changed to a mode in which the marine vessel is guided along a predetermined route, when the marine vessel deviates from the predetermined route in a bow direction of the marine vessel, perform deceleration control to prevent the marine vessel from moving in the bow direction. ### Claim 19 A marine vessel comprising: at least one power source to generate thrust; a memory; and a controller coupled to the memory and configured or programmed to: control movement of the marine vessel by the power source; and in a case in which the marine vessel has changed to a mode in which the marine vessel is guided along a predetermined route, when the marine vessel deviates from the predetermined route in a bow direction of the marine vessel, perform deceleration control to prevent the marine vessel from moving in the bow direction.