Systems and methods for controlling movement of a marine vessel using first and second propulsion devices

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:

• a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
• the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
• the request for movement of the marine vessel is a request for translation at an angle to the longitudinal axis and at an angle to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes, and
• the control module is configured to cause the first propulsion device and the second propulsion device to output:
• unmatched longitudinal thrust components that are parallel to the longitudinal axis, and
• a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure balance each other to prevent yaw movement of the marine vessel.

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:

• a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
• the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
• the request for movement of the marine vessel is a request for translation parallel to the lateral axis, with yaw movement with respect to both the longitudinal axis and lateral axis;
• and
• the control module is configured to cause the first propulsion device and the second propulsion device to output:
• opposingly matched longitudinal thrust components that are parallel to the longitudinal axis, and
• a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and unmatched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel.

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:

• a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel,
• wherein the request for movement of the marine vessel is a request for rotation about the center of pressure, and wherein the control module is configured to cause the first propulsion device and the second propulsion device to output a first lateral thrust component and a second lateral thrust component, respectively, that are parallel to the lateral axis and opposingly matched, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure are unbalanced to thereby cause yaw movement of the marine vessel.

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:

• a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel, wherein:
• the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure;
• the request for movement of the marine vessel is a request for translation parallel to the longitudinal axis, with yaw movement with respect to both the longitudinal axis and the lateral axis;
• and
• the control module is configured to cause the first propulsion device and the second propulsion device to output:
• longitudinal thrust components having the same orientation and being parallel to the longitudinal axis, and
• a first lateral thrust component and a second lateral thrust component, respectively, having opposing orientations and being parallel to the lateral axis, wherein a first moment caused by the first lateral thrust component acting at the longitudinal distance (A) from the center of pressure and a second moment caused by the second lateral thrust component acting at the longitudinal distance (B) from the center of pressure have the same orientation and cause yaw movement of the marine vessel.

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, and wherein the marine vessel has a center of pressure located between the bow and the stern, the system comprising:

• a first propulsion device located closer to the stern than to the bow and at a longitudinal distance (A) from the center of pressure, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern and at a longitudinal distance (B) in an opposite direction from the center of pressure as the longitudinal distance (A), wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel;
• wherein the request for movement of the marine vessel is one of movement of the marine vessel:
• parallel to the longitudinal axis;
• parallel to the lateral axis, without yaw movement with respect to the longitudinal and lateral axes;
• in translation at an angle to the longitudinal axis and at an angle to the lateral axis;
• parallel to the lateral axis, with yaw movement with respect to both the longitudinal and lateral axes;
• in rotation about the center of pressure;
• or
• parallel to the longitudinal axis, with yaw movement with respect to both the longitudinal and lateral axes.

A system for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the system comprising:

• a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• a control module configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device, wherein a steering angle is defined as the angle that the thrust is provided relative to the longitudinal axis;
• and
• an input device configured to input a request for movement of the marine vessel to the control module;
• wherein based upon the request for movement, the control module is configured to control steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel,
• wherein the input device includes a translation switch and a steering wheel that turns between a left stop and a right stop, wherein the control module is configured to cause the first propulsion device and the second propulsion device to both output thrust components that are parallel to the longitudinal axis when the translation switch is actuated and the steering wheel is steered to one of the left stop or the right stop.

A method for controlling movement of a marine vessel that extends along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, wherein the longitudinal axis is perpendicular to the lateral axis, the method comprising:

• providing a first propulsion device located closer to the stern than to the bow, wherein the first propulsion device is steerable about a first steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• providing a second propulsion device located closer to the bow than to the stern, wherein the second propulsion device is steerable about a second steering axis that is perpendicular to the longitudinal axis and perpendicular to the lateral axis;
• inputting, with an input device, a request for movement of the marine vessel to control module;
• and
• controlling, with the control module, steering of and thrust provided by both the first propulsion device and the second propulsion device to thereby achieve a resultant movement of the marine vessel that is commensurate with the request for movement of the marine vessel;
• wherein the marine vessel has a center of pressure located between the bow and the stern, wherein the first propulsion device is located a longitudinal distance (A) from the center of pressure, and wherein the second propulsion device is located a longitudinal distance (B) in an opposite direction from the center of pressure, and wherein the request for movement includes a request for rotation about the center of pressure.