Thruster system for marine vessels
A boat comprises a hull, a primary steering mechanism carried by the hull, a control station located on the hull, a helm located at the control station, and a thruster system carried by the hull. The primary steering mechanism, such as a rudder, is operable via the helm with a helm input being derived from operation of the primary steering mechanism thereby. The thruster system includes at least one thruster mounted to the hull, distinct from the primary steering mechanism, and a controller. The controller receives the helm input and is configured with program instructions to operate the at least one thruster responsive to the helm input to supplement a corresponding movement of the hull. The controller can also automatically operate the thruster responsive to direction, speed and ballast inputs.
1. A method of improving turning performance of a boat steered by a rudder while moving under power of an inboard motor, the method comprising:
receiving, at a controller, a rudder input indicating a turning direction of the rudder and a speed input indicative of a speed of the boat;
automatically operating a thruster of the boat to supplement a turning motion of the boat in a direction indicated by the turning direction of the rudder including varying a speed of the thruster proportionally with the magnitude of the turning of the rudder.
2. The method of claim 1 , wherein the rudder input further indicates a magnitude of a turning of the rudder; and
wherein automatically operating the thruster of the boat to supplement the turning motion of the boat in the direction indicated by the turning direction of the rudder includes varying a speed of the thruster proportionally with the magnitude of the turning of the rudder.
3. The method of claim 1 , wherein automatically operating the thruster of the boat to supplement the turning motion of the boat in the direction indicated by the turning direction of the rudder further includes securing thruster operation when the speed of the boat is above a predetermined upper speed threshold.
4. The method of claim 1 , wherein the speed input is derived from monitoring a speed of the inboard motor.
5. The method of claim 1 , wherein the speed input is derived from a water speed sensor.
6. The method of claim 1 , wherein the speed input is derived from global positioning system (GPS) data.
7. The method of claim 1 , further comprising:
receiving, at the controller, a direction input indicating forward or reverse operation of the inboard drive;
wherein automatically operating the thruster of the boat to supplement the turning motion of the boat in the direction indicated by the turning direction of the rudder includes changing a thrust direction of the thruster based on the forward or reverse operation of the inboard drive.
8. The method of claim 7 , wherein the thruster is a bow or stern thruster oriented athwartships and changing the thrust direction of the thruster based on the forward or reverse operation of the inboard drive includes reversing an operating direction of the thruster.
9. The method of claim 1 , wherein the rudder input is derived from monitoring a position of the rudder.
10. The method of claim 1 , wherein the rudder input is derived from monitoring a helm position of the boat.
11. The method of claim 1 , further comprising:
receiving, at the controller, an input indicative of a change in mass of the boat;
wherein automatically operating the thruster of the boat to supplement the turning motion of the boat in the direction indicated by the turning direction of the rudder includes varying a speed of the thruster proportionally with the change in mass.
12. The method of claim 11 , wherein the input indicative of a change in mass of the boat is a ballast level input.