Granted Patent B2

US 10,996,676 · App. 15/640,186 · Granted May 4, 2021

Inventors: Mark Johnson (Vannes, FR); Ian Matt (Fareham, GB); Christopher Yeomans (Fareham, GB)

Assignee: FLIR Systems, Inc.

G05D1/0206B63H25/04B63H25/06G01C21/165G01C21/18G01P21/025B63B2035/009B63H2025/045G01C21/203

Abstract

Claims (88)

1. A system comprising:

a logic device configured to receive one or more sensor signals and generate one or more control signals to provide proactive directional control for a mobile structure comprising a rudder and disposed on a body of water, wherein the logic device is adapted to:

receive a steering demand for the mobile structure;

determine a steering angle disturbance adjustment based, at least in part, on one or more environmental conditions associated with the mobile structure, wherein the one or more environmental conditions comprise a wave pattern on the body of water;

determine a wave height, length, period, and/or the propagation direction for the wave pattern based, at least in part, on a series of pitch angles for the mobile structure;

determine an orbital velocity associated with water at the rudder based, at least in part, on the height, length, period, and/or propagation direction for the wave pattern;

determine a rudder trim component of the steering angle disturbance adjustment based, at least in part, on the orbital velocity;

determine a disturbance adjusted steering demand based, at least in part, on the steering angle disturbance adjustment comprising the rudder trim component and the steering demand; and

generate the one or more control signals to provide the proactive directional control for the mobile structure based, at least in part, on the disturbance adjusted steering demand.

2. The system of claim 1 , wherein the logic device is adapted to:

determine a heading error comprising a difference between a heading of the mobile structure and a propagation direction for the wave pattern; and

set the disturbance adjusted steering demand to the heading error to steer the mobile structure in the propagation direction for the wave pattern.

3. The system of claim 1 , wherein the logic device is adapted to:

determine the propagation direction for the wave pattern based, at least in part, on a series of roll angles of the mobile structure;

determine a lateral speed for the mobile structure based, at least in part, on the propagation direction for the wave pattern and/or the orbital velocity; and

determine the rudder trim component of the steering angle disturbance adjustment based, at least in part, on the lateral speed and the orbital velocity.

4. A system comprising:

a logic device configured to receive one or more sensor signals and generate one or more control signals to provide proactive directional control for a mobile structure disposed on a body of water, wherein the logic device is adapted to:

receive a steering demand for the mobile structure;

determine a steering angle disturbance adjustment based, at least in part, on one or more environmental conditions associated with the mobile structure, wherein the one or more environmental conditions comprise a wind blowing over the body of water;

receive one or more wind speeds, wind directions, and/or a series of roll angles for the mobile structure corresponding to the wind speeds and/or wind directions;

determine at least one weather helm component of the steering angle disturbance adjustment based, at least in part, on a mathematical relationship between the at least one weather helm component and the wind speeds, wind directions, and/or series of roll angles;

determine a disturbance adjusted steering demand based, at least in part, on the steering angle disturbance adjustment comprising the at least one weather helm component and the steering demand; and

generate the one or more control signals to provide the proactive directional control for the mobile structure based, at least in part, on the disturbance adjusted steering demand.

5. The system of claim 4 , wherein the logic device is adapted to:

store the wind speeds, the wind directions, the series of roll angles, and/or the at least one weather helm component; and

determine a statistical relationship between the stored at least one weather helm component and the wind speeds, wind directions, and/or series of roll angles, to determine or refine the mathematical relationship.

6. The system of claim 4 , wherein the logic device is adapted to:

receive a steering angle and a steering rate of the mobile structure;

determine a nominal vehicle steering angle based, at least in part, on the steering rate; and

determine a nominal vehicle feedback signal based, at least in part, on a combination of the steering angle and the nominal vehicle steering angle, wherein the nominal vehicle feedback signal is provided to adjust the steering demand.

7. The system of claim 6 , wherein the logic device, for the determine the nominal vehicle steering angle, is adapted to:

process the steering rate with a nominal vehicle predictor; and

receive the nominal vehicle steering angle from the nominal vehicle predictor, wherein the nominal vehicle predictor comprises a transfer function configured to model dynamics of a nominal vehicle derived, at least in part, from a selection of mobile structures.

8. The system of claim 7 , wherein:

the transfer function comprises a ratio of a nominal vehicle steering rate lag term to a nominal vehicle steering rate gain term; and

the logic device, for the determine the nominal vehicle feedback signal, is adapted to determine a difference between the nominal vehicle steering angle and the steering angle as the nominal vehicle feedback signal.

9. The system of claim 7 , wherein:

the transfer function comprises a ratio of a nominal vehicle steering rate lag term to a nominal vehicle steering rate gain term;

the nominal vehicle steering rate lag is set to zero within the nominal vehicle predictor; and

the logic device, for the determine the nominal vehicle feedback signal, is adapted to determine a delayed steering angle based, at least in part, on the steering angle, and to determine a difference between the nominal vehicle steering angle and the delayed steering angle as the nominal vehicle feedback signal.

10. The system of claim 1 , wherein:

the logic device is adapted to provide the disturbance adjusted steering demand to a steering actuator for the mobile structure; and

the steering demand is adjusted by a nominal vehicle feedback signal prior to being used to determine the steering angle disturbance adjustment.

11. The system of claim 1 , further comprising:

a steering actuator configured to receive the disturbance adjusted steering demand provided as one of the control signals, wherein the mobile structure comprises a watercraft and the steering actuator is configured to control a rudder of the watercraft.

12. A method comprising:

receiving a steering demand for a mobile structure comprising a rudder and disposed on a body of water;

determining a steering angle disturbance adjustment based, at least in part, on one or more environmental conditions associated with the mobile structure, wherein the one or more environmental conditions comprise a wave pattern on the body of water;

determining a wave height, length, period, and/or the propagation direction for the wave pattern based, at least in part, on a series of pitch angles for the mobile structure;

determining an orbital velocity associated with water at the rudder based, at least in part, on the height, length, period, and/or propagation direction for the wave pattern;

determining a rudder trim component of the steering angle disturbance adjustment based, at least in part, on the orbital velocity;

determining a disturbance adjusted steering demand based, at least in part, on the steering angle disturbance adjustment comprising the rudder trim component and the steering demand; and

generating one or more control signals to provide directional control for the mobile structure based, at least in part, on the disturbance adjusted steering demand.

13. The method of claim 12 , further comprising:

determining a heading error comprising a difference between a heading of the mobile structure and the propagation direction for the wave pattern; and

setting the disturbance adjusted steering demand to the heading error to steer the mobile structure in the propagation direction for the wave pattern.

14. The method of claim 12 , further comprising:

determining the propagation direction for the wave pattern based, at least in part, on a series of roll angles of the mobile structure;

determining a lateral speed for the mobile structure based, at least in part, on the propagation direction for the wave pattern and/or the orbital velocity; and

determining the rudder trim component of the steering angle disturbance adjustment based, at least in part, on the lateral speed and the orbital velocity.

15. A method comprising:

receiving a steering demand for a mobile structure disposed on a body of water;

determining a steering angle disturbance adjustment based, at least in part, on one or more environmental conditions associated with the mobile structure, wherein the one or more environmental conditions comprise a wind blowing over the body of water;

receiving one or more wind speeds, wind directions, and/or a series of roll angles for the mobile structure corresponding to the wind speeds and/or wind directions;

determining at least one weather helm component of the steering angle disturbance adjustment based, at least in part, on a mathematical relationship between the at least one weather helm component and the wind speeds, wind directions, and/or series of roll angles;

determining a disturbance adjusted steering demand based, at least in part, on the steering angle disturbance adjustment comprising the at least one weather helm component and the steering demand; and

generating one or more control signals to provide directional control for the mobile structure based, at least in part, on the disturbance adjusted steering demand.

16. The method of claim 15 , further comprising:

storing the wind speeds, the wind directions, the series of roll angles, and/or the at least one weather helm component; and

determining a statistical relationship between the stored at least one weather helm component and the wind speeds, wind directions, and/or series of roll angles, to refine the mathematical relationship.

17. The method of claim 15 , further comprising:

receiving a steering angle and a steering rate of the mobile structure;

determining a nominal vehicle steering angle based, at least in part, on the steering rate; and

determining a nominal vehicle feedback signal based, at least in part, on a combination of the steering angle and the nominal vehicle steering angle, wherein the nominal vehicle feedback signal is provided to adjust the steering demand.

18. The method of claim 17 , wherein the determining the nominal vehicle steering angle comprises:

processing the steering rate with a nominal vehicle predictor; and

receiving the nominal vehicle steering angle from the nominal vehicle predictor, wherein the nominal vehicle predictor comprises a transfer function configured to model dynamics of a nominal vehicle derived, at least in part, from a selection of mobile structures.

19. The method of claim 18 , wherein:

the transfer function comprises a ratio of a nominal vehicle steering rate lag term to a nominal vehicle steering rate gain term; and

the determining the nominal vehicle feedback signal comprises determining a difference between the nominal vehicle steering angle and the steering angle as the nominal vehicle feedback signal.

20. The method of claim 18 , wherein:

the transfer function comprises a ratio of a nominal vehicle steering rate lag term to a nominal vehicle steering rate gain term;

the nominal vehicle steering rate lag is set to zero within the nominal vehicle predictor; and

the method comprises determining a delayed steering angle based, at least in part, on the steering angle, and determining a difference between the nominal vehicle steering angle and the delayed steering angle as the nominal vehicle feedback signal.

21. The method of claim 12 , wherein:

the method comprises providing the disturbance adjusted steering demand to a steering actuator for the mobile structure; and

the steering demand is adjusted by a nominal vehicle feedback signal prior to being used to determine the steering angle disturbance adjustment.

Assignments (2)

Continuity (18)

Cited By (1)

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