Rotation and translation control system for vessels
AssigneeCpac Systems AB
InventorMathias Lindeborg
Life of this patent
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Abstract
A marine propulsion control system for controlling a set of propulsion units carried, by a hull of a vessel is based on the recognition that simultaneous control of yaw and sway movements can be achieved through a control system for a set of propulsion units where two propulsion units achieve yaw movement and two propulsion units achieve a sway movement.
Claims11
A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, wherein the set of propulsion units comprise a first, a second, a third, and a fourth propulsion unit, the marine propulsion control system comprising a control unit configured to:
- receive an input command from a steering control instrument for operating the vessel;
- determine a desired delivered thrust, gear selection and steering angle for the first, second, third and forth propulsion unit respectively, based on the input command, and
- provide a set of control corn lands for controlling the desired delivered thrust, gear selection and steering angle for the first, second, thud and forth propulsion unit,
- wherein if the input command simultaneously indicates a sway and yaw input command the control unit is configured to simultaneously provide at least a first control command to the first and forth propulsion units and a second control command to the second and third propulsion units, wherein the first control command is adapted to achieve a sway movement of the marine vessel and the second control command is adapted to achieve a yaw movement of the marine vessel.
A method for controlling a set of propulsion units carried by a hull of a vessel, wherein the set of propulsion units comprise a first, a second, a third, and a fourth propulsion unit, the method comprising:
- receiving an input command from a steering control instrument operating the vessel;
- determining a desired delivered thrust, gear selection and steering angle for the first, second, third and forth propulsion unit respectively, based on the input command,
- providing a set of control commands for controlling the desired delivered thrust, gear selection and steering angle for the first, second, third and forth propulsion unit, and
- simultaneously providing at least a first control command to the first and forth propulsion units and a second Control command to the second and third propulsion units, if the input command simultaneously indicates a sway and yaw input command,
- wherein the first control command is adapted. to achieve a sway movement of the marine vessel and the second control command is adapted to achieve a yaw movement of the marine vessel.
Computer program product comprising a computer readable medium having stored thereon computer program means for causing as control unit to control a set of propulsion units caned by a hull of a vessel, wherein the set of propulsion units comprise a first, as second, a third, and a fourth propulsion unit, wherein the computer program product comprises:
- code for receiving an input command from a steering control instrument operating the vessel;
- code for determining a desired delivered thrust, gear selection and steering, angle for the first, second, third and forth propulsion unit respectively, based on the input command,
- code for providing a set of control commands for controlling the desired delivered thrust, gear selection and steering angle for the first, second, third and forth propulsion unit, and
- code for simultaneously providing at least a first control command to the first and forth propulsion units and a second control command to the second and third propulsion units, if the input command simultaneously indicates a sway and yaw input command,
- wherein the first control command is adapted to achieve a sway movement of the marine vessel and the second control command is adapted to achieve a yaw movement of the marine vessel.
Dependencies are inferred from the claim text.