Hybrid propulsion system for a pleasure boat

A hybrid propulsion system (100) for a pleasure boat (10) provided with a control system (40) of the hybrid propulsion system (100) and of the position of the pleasure boat;

• the hybrid propulsion system (100) further comprising:
• an internal combustion engine (50) and
• an electric motor/generator (30, 31, 32) operating in an integrated manner and according to two operating modes managed by the control system (40);
• wherein said internal combustion engine (50) is configured to operate in a first operating mode at a cruising speed, and
• wherein the electric motor/generator (30) is configured to operate in a second operating mode at a lower speed than said cruising speed,
• in which:
• the control system is configured to control the position of the boat by means of signals from a plurality of gyroscopic sensors and/or triaxial accelerometers (20, 21);
• and wherein the plurality of gyroscopic sensors and/or triaxial accelerometers is located such that there is at least one gyroscopic sensor and/or one triaxial accelerometer (20) at the bow of the boat (10) and at least one gyroscopic sensor and/or one triaxial accelerometer (21) at the stern of the boat (10), the hybrid propulsion system (100) being characterized by the fact that the control system (40) comprises:
• at least one logic block (41, 42) and at least one feedback block (43, 44), the at least one logic block (41, 42) being configured to compare set-point signals (W1, W2) with feedback signals from the at least one feedback block (43, 44),
• at least one regulator (45, 46) configured to determine the value of a regulating variable (Uy1, Uy2) on the basis of a comparison between the set-point signals (W1, W2) and the feedback signals, and
• a control unit (47) configured to transform the values of the regulating variable (Uy1, Uy2) into input values (Yx1, Yx2 and Yz1, Yz2) for the electric motor/generator (30, 31, 32):
• and wherein
• the set-point signals (W1, W2) are static or dynamic angular values;
• the feedback signals are angular values from at least two of said plurality of gyroscopic sensors and/or triaxial accelerometers (20, 21);
• the regulating variable (Uy1, Uy2) is a driving torque, and
• the input values (Yx1, Yx2 and Yz1, Yz2) are a propulsive thrust according to two directions defined by x and z components of a displacement vector.