Method and apparatus for controlling water-jet driven marine vessel
View Patent ↗A system for controlling a marine vessel having first and second waterjets, corresponding first and second steering nozzles and corresponding first and second reversing buckets. The system comprises 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 coupled to the first and second waterjets, and at least one second actuator control signal coupled to the first and second steering nozzles and the first and to second reversing buckets. The system any of improves upon turns provided by conventional waterjet propulsion systems, improves upon slowing down or stopping marine vessels as is done by conventional waterjet propulsion systems, and improves upon the controllability of the waterjet propulsed marine vessel at low vessel speeds.
1. A method of controlling a marine vessel having a first propulsor, a first steering nozzle, and a first reversing deflector corresponding to the first propulsor, the method comprising:
receiving at least one control signal corresponding to a command to turn the marine vessel in a first direction; and
in response to receiving the at least one control signal, inducing the marine vessel to turn in the first direction, the inducing comprising:
providing an actuator control signal to the first reversing deflector to position the first reversing deflector at least partially into a stream produced by the first propulsor, and
turning the first steering nozzle to deflect the stream produced by the first propulsor at least partially toward a starboard direction or a port direction.
2. The method of claim 1 , wherein the marine vessel further comprises a second propulsor, a second steering nozzle, and a second reversing deflector corresponding to the second propulsor, the method further comprising:
in response to receiving the at least one control signal, providing a second actuator control signal to the second reversing deflector to position the second reversing deflector at least partially out of a stream produced by the second propulsor.
3. The method of claim 2 , wherein the command to turn the marine vessel is a command to turn the marine vessel in the starboard direction, and wherein the first propulsor is positioned on a starboard side of the marine vessel.
4. The method of claim 3 , wherein the second propulsor is positioned on a port side of the marine vessel.
5. A system for controlling a marine vessel, the marine vessel having a first propulsor, a first steering nozzle, and a first reversing deflector corresponding to the first propulsor, the system comprising:
at least one processor configured to:
receive at least one control signal corresponding to a command to turn the marine vessel in a first direction, and
in response to receiving the at least one control signal, induce the marine vessel to turn in the first direction, at least in part by:
providing an actuator control signal to the first reversing deflector to position the first reversing deflector at least partially into a stream produced by the first propulsor, and
turning the first steering nozzle to deflect the stream produced by the first propulsor at least partially toward a starboard direction or a port direction.
6. The system of claim 5 , wherein the marine vessel further comprises a second propulsor, a second steering nozzle, and a second reversing deflector corresponding to the second propulsor, and wherein the at least one processor is further configured to provide, in response to receiving the at least one control signal, a second actuator control signal to the second reversing deflector to position the second reversing deflector at least partially out of a stream produced by the second propulsor.
7. The system of claim 6 , wherein the command to turn the marine vessel is a command to turn the marine vessel in the starboard direction, and wherein the first propulsor is positioned on a starboard side of the marine vessel.
8. The system of claim 7 , wherein the second propulsor is positioned on a port side of the marine vessel.
9. A system for controlling a marine vessel, the marine vessel having a first propulsor, a first steering nozzle, and a first reversing deflector corresponding to the first propulsor, the system comprising:
at least one processor configured to:
receive at least one control signal corresponding to a command to turn the marine vessel in a first direction, and
in response to receiving the at least one control signal, induce the marine vessel to turn in the first direction, at least in part by:
providing an actuator control signal to the first reversing deflector to position the first reversing deflector at least partially out of a stream produced by the first propulsor, and
turning the first steering nozzle to deflect the stream produced by the first propulsor at least partially toward a starboard direction or a port direction.
10. The system of claim 9 , wherein the command to turn the marine vessel is a command to turn the marine vessel in the starboard direction, and wherein the first propulsor is positioned on a port side of the marine vessel.
11. The system of claim 10 , wherein the marine vessel comprises a second propulsor positioned on a starboard side of the marine vessel.
12. The method of claim 1 , wherein the at least one control signal comprises a first vessel control signal corresponding to a command to turn the steering nozzle and a second vessel control signal corresponding to a command to move the reversing deflector, and wherein the inducing is performed in response to receiving the first vessel control signal and the second vessel control signal.
13. The system of claim 5 , wherein the at least one control signal comprises a first vessel control signal corresponding to a command to turn the steering nozzle and a second vessel control signal corresponding to a command to move the reversing deflector, and wherein the at least one processor is configured to induce the marine vessel to turn in the first direction in response to receiving the first vessel control signal and the second vessel control signal.
14. The system of claim 9 , wherein the at least one control signal comprises a first vessel control signal corresponding to a command to turn the steering nozzle and a second vessel control signal corresponding to a command to move the reversing deflector, and wherein the at least one processor is configured to induce the marine vessel to turn in the first direction in response to receiving the first vessel control signal and the second vessel control signal.
15. The method of claim 1 , wherein the first steering nozzle corresponds to the first propulsor.
16. The system of claim 5 , wherein the first steering nozzle corresponds to the first propulsor.
17. The system of claim 9 , wherein the first steering nozzle corresponds to the first propulsor.