Method and apparatus for controlling a water-jet driven marine vessel

A system for controlling a marine vessel having first and second waterjets including corresponding first and second steering nozzles and corresponding first and second reversing buckets, the system comprising:

• a speed control device for providing a first vessel control signal that corresponds to a speed to be provided to the marine vessel;
• a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal and at least one second actuator control signal;
• wherein the at least one first actuator control signal is to be coupled to and control the first and second waterjets, and wherein the at least one second actuator control signal is to be coupled to and control the first and second steering nozzles and the first and second reversing buckets;
• wherein the processor is configured to provide the at least one first actuator control signal so as to increase RPMs of the first and second waterjets so as to maintain the speed of the marine vessel, and to provide the at least one second actuator control signal so that the first and second reversing buckets are positioned at least partly in the waterjet stream of the first and second steering nozzles, in response to receipt of the first vessel control signal that corresponds to a command to provide the speed of the marine vessel.

A system for controlling a marine vessel having first and second waterjets including corresponding first and second steering nozzles and corresponding first and second reversing buckets, the system comprising:

• a speed control device for providing a first vessel control signal that corresponds to a speed to be provided to the marine vessel;
• a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal and at least one second actuator control signal;
• wherein the at least one first actuator control signal is to be coupled to and control the first and second waterjets, and wherein the at least one second actuator control signal is to be coupled to and control the first and second steering nozzles and the first and second reversing buckets;
• wherein the processor is configured to provide the at least one first actuator control signal so as to increase RPMs of the first and second waterjets so as to maintain the speed of the marine vessel, and to provide the at least one second actuator control signal so as to point inward the first and second steering nozzles to increase an amount of upward force at a stern of the marine vessel, in response to receipt of the first vessel control signal that corresponds to a command to provide the speed of the marine vessel.

A method for controlling a marine vessel having a speed control device, a first waterjet including a corresponding first steering nozzle and a corresponding first reversing deflector, and a second waterjet including a corresponding second steering nozzle and a corresponding second reversing deflector, comprising:

• receiving a first vessel control signal corresponding to a speed to be provided to the marine vessel;
• generating at least one first actuator control signal and at least one second actuator control signal in response to the first vessel control signal;
• coupling the at least one first actuator control signal to and controlling the first waterjet and the second waterjet;
• coupling the at least one second actuator control signal to and controlling the first and second steering nozzles and the first and second reversing buckets;
• positioning the first and second steering nozzles outward in response to receipt of the first vessel control signal that corresponds to a command to a slow down or stop the marine vessel;
• and
• positioning the first and second reversing buckets in the waterjet stream of the first and second waterjets.

A method for controlling a marine vessel, the marine vessel having a speed control device, a first waterjet including a corresponding first steering nozzle and a corresponding first reversing deflector, and a second waterjet including a corresponding second steering nozzle and a corresponding second reversing deflector, the method comprising:

• receiving a first vessel control signal corresponding to a speed to be provided to the marine vessel;
• generating at least one first actuator control signal and at least one second actuator control signal in response to the first vessel control signal;
• coupling the at least one first actuator control signal to and controlling the first waterjet and the second waterjet;
• coupling the at least one second actuator control signal to and controlling the first and second steering nozzles and the first and second reversing buckets;
• increasing RPMs of the first and second water jets so as to maintain the speed of the marine vessel while positioning the first and second reversing buckets at least partially in the waterjet stream of the first and second waterjets, in response to receipt of the first vessel control.

A method for controlling a marine vessel, the marine vessel having a speed control device, a first waterjet including a correspond first steering nozzle and a corresponding first reversing deflector, and a second waterjet including a corresponding second steering nozzle and a corresponding second reversing deflector, the method comprising:

• receiving a first vessel control signal corresponding to a speed to be provided to the marine vessel;
• generating at least one first actuator control signal and at least one second actuator control signal in response to the first vessel control signal;
• coupling the at least one first actuator control signal to and controlling the first waterjet and the second waterjet;
• coupling the at least one second actuator control signal to and controlling the first and second steering nozzles and the first and second reversing buckets;
• increasing RPMs of the first and second waterjets so as to maintain the speed of the marine vessel while pointing inward the first and second steering nozzles to increase an amount of upward force at a stern of the marine vessel, in response to receipt of the first vessel control signal.

A system for controlling a marine vessel having first and second waterjets that provide first and second waterjet streams and have corresponding first and second steering nozzles and corresponding first and second reversing buckets, comprising:

• a vessel control apparatus having a degree of freedom that provides a first vessel control signal corresponding to a command for turning the marine vessel in a direction toward one side of the marine vessel;
• a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal and at least one second actuator control signal;
• wherein the at least one first actuator control signal is to be coupled to and control the first and second steering nozzles, and wherein the at least one second actuator control signal is to be coupled to and control the first and second reversing buckets;
• wherein the processor is configured to provide the at least one first actuator control signal so that the first and second steering nozzles are rotated in response to receipt of the first vessel control signal;
• and
• wherein the processor is also configured to provide the at least one second actuator control signal so that a differential deflection of the first and second waterjet streams is provided by the first and second reversing buckets in response to receipt of the first vessel control signal.

A method for controlling a marine vessel having a vessel control apparatus having a degree of freedom, a first waterjet that provides a first waterjet stream and has a corresponding first steering nozzle and a corresponding first reversing deflector, and a second waterjet that provides a second waterjet stream and has a corresponding second steering nozzle and a corresponding second reversing deflector, comprising:

• receiving a first vessel control signal corresponding to a command for turning the marine vessel in a direction toward one side of the marine vessel;
• generating at least one first actuator control signal and at least one second actuator control signal in response to the first vessel control signal;
• coupling the at least one first actuator control signal to and controlling the first steering nozzle and the second steering nozzle;
• coupling the at least one second actuator control signal to and controlling the first and second reversing buckets;
• rotating the first and second steering nozzles in response to receipt of the first vessel control signal;
• and
• differentially deflecting the first and second waterjet streams of the first and second steering nozzles with the first and second reversing buckets, in response to receipt of the first vessel control signal.

A marine vessel control system for a marine vessel having a first waterjet including a corresponding first steering nozzle and a corresponding first reversing bucket and a second waterjet including a corresponding second steering nozzle and a corresponding second reversing bucket, the vessel control apparatus comprising:

• a control stick having at least one degree of freedom that provides a first vessel control signal corresponding to movement of the vessel control apparatus along the at least one degree of freedom;
• a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal and at least one second actuator control signal;
• wherein the at least one first actuator control signal is to be coupled to and control the first and second waterjets, and wherein the at least one second actuator control signal is to be coupled to and control the first and second reversing buckets;
• and
• a lockout device that prevents output of the at least one second actuator control signal.