Method of controlling vessel, control system and vessel
AssigneeABB Schweiz AG
InventorsJonas Linder, Hamid Feyzmahdavian, Kalevi Tervo
Life of this patent
Estimating the term…
Abstract
A method of controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method including estimating, by a control system, an operational condition associated with the vessel; and commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode. A control system and a vessel are also provided.
Claims17
A method of controlling a vessel comprising a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method comprising:
- estimating, by a control system, an operational condition associated with the vessel, wherein the estimation of the operational condition includes estimating at least one parameter of one or more external disturbances acting on the vessel, wherein the at least one parameter comprises a direction and/or a variation of the direction;
- and
- commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode;
- wherein the thrust forces partly in opposite thrust directions are higher at a relatively high bias level than at a relatively low bias level.
A control system for controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the control system comprising at least one data processing device and at least one memory having at least one computer program stored thereon, the at least one computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to:
- estimate an operational condition associated with the vessel, wherein the estimation of the operational condition includes estimating at least one parameter of one or more external disturbances acting on the vessel, wherein the at least one parameter comprises a direction and/or a variation of the direction;
- and
- command based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode;
- wherein the thrust forces partly in opposite thrust directions are higher at a relatively high bias level than at a relatively low bias level.
A vessel comprising a control system for controlling a vessel including a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the control system including at least one data processing device and at least one memory having at least one computer program stored thereon, the at least one computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to:
- estimate an operational condition associated with the vessel, wherein the estimation of the operational condition includes estimating at least one parameter of one or more external disturbances acting on the vessel, wherein the at least one parameter comprises a direction and/or a variation of the direction;
- command based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode, and the plurality of thrusters;
- wherein the thrust forces partly in opposite thrust directions are higher at a relatively high bias level than at a relatively low bias level.
Dependencies are inferred from the claim text.