Marine vessel control system for controlling movement of a marine vessel having four propulsion units
A marine vessel control system comprises an outer port engine which has an actuator for imparting steering motion to the outer port engine and an outer starboard engine which has an actuator for imparting steering motion to the outer starboard engine. There is an inner port engine and a tie bar coupling the inner port engine to the outer port engine. There is an inner starboard engine and a tie bar coupling the inner starboard engine to the outer starboard engine. There is an input device for inputting user steering commands to the marine vessel control system in which movement of the input device actuates the said actuators to impart steering motion to the said engines.
1. A marine vessel control system for a marine vessel, the marine vessel control system comprising:
an outer port engine;
an inner port engine;
an outer starboard engine;
an inner starboard engine;
actuators operable to impart steering motion to the outer port engine, the inner port engine, the outer starboard engine, and the inner starboard engine; and
an input device for inputting user steering commands to the marine vessel control system, wherein when a thrust intersection point of the outer port engine and the outer starboard engine is fore of an instantaneous center of rotation of the marine vessel and a thrust intersection point of the inner port engine and the inner starboard engine is aft of the instantaneous center of rotation of the marine vessel, the marine vessel control system is operable to cause, in response to the input device indicating movement of the marine vessel in only a lateral direction, thrusts of the outer port engine and the outer starboard engine to be less than thrusts of the inner port engine and the inner starboard engine.
2. The marine vessel control system as claimed in claim 1 , wherein:
the thrusts of the outer port engine and the outer starboard engine are synchronized;
the thrusts of the inner port engine and the inner starboard engine are synchronized; and
the thrusts of the outer port engine and the outer starboard engine are independent of the thrusts of the inner port engine and the inner starboard engine.
3. The marine vessel control system as claimed in claim 1 , wherein toe-in angles of the inner port engine and the inner starboard engine are adjustable.
4. The marine vessel control system as claimed in claim 1 , wherein the input device is a joystick.
5. The marine vessel control system as claimed in claim 1 , wherein:
the inner port engine is coupled to the outer port engine; and
the inner starboard is coupled to the outer starboard engine.
6. The marine vessel control system as claimed in claim 5 , further comprising:
a first tie bar coupling the inner port engine to the outer port engine; and
a second tie bar coupling the inner starboard to the outer starboard engine.
7. The marine vessel control system as claimed in claim 6 wherein the actuators comprise:
a first actuator operable to impart steering motion to the inner port engine and to the outer port engine; and
a second actuator operable to impart steering motion to the inner starboard engine and to the outer starboard engine.
8. The marine vessel control system as claimed in claim 5 , wherein the actuators comprise:
a first actuator operable to impart steering motion to the inner port engine and to the outer port engine; and
a second actuator operable to impart steering motion to the inner starboard engine and to the outer starboard engine.
9. The marine vessel control system as claimed in claim 5 , wherein:
the inner port engine is coupled to the outer port engine such that angle changes of the inner port engine are non-linearly related to angle changes of the outer port engine; and
the inner starboard engine is coupled to the outer starboard engine such that angle changes of the inner starboard engine are non-linearly related to angle changes of the outer starboard engine.
10. The marine vessel control system as claimed in claim 1 , wherein the marine vessel control system is operable to cause the thrusts of the outer port engine and the outer starboard engine to be less than the thrusts of the inner port engine and the inner starboard engine in response to:
the input device indicating the movement of the marine vessel in only the lateral direction; and
the thrust intersection point of the outer port engine and the outer starboard engine being farther from the instantaneous center of rotation of the marine vessel than the thrust intersection point of the inner port engine and the inner starboard engine.
11. A marine vessel, comprising:
an outer port engine;
an inner port engine;
an outer starboard engine;
an inner starboard engine;
actuators operable to impart steering motion to the outer port engine, the inner port engine, the outer starboard engine, and the inner starboard engine; and
a marine vessel control system comprising an input device for inputting user steering commands to the marine vessel control system, wherein when a thrust intersection point of the outer port engine and the outer starboard engine is fore of an instantaneous center of rotation of the marine vessel and a thrust intersection point of the inner port engine and the inner starboard engine is aft of the instantaneous center of rotation of the marine vessel, the marine vessel control system is operable to cause, in response to the input device indicating movement of the marine vessel in only a lateral direction, the thrusts of the outer port engine and the outer starboard engine to be less than the thrusts of the inner port engine and the inner starboard engine.
12. The marine vessel as claimed in claim 11 , wherein:
thrusts of the outer port engine and the outer starboard engine are synchronized;
thrusts of the inner port engine and the inner starboard engine are synchronized; and
the thrusts of the outer port engine and the outer starboard engine are independent of the thrusts of the inner port engine and the inner starboard engine.
13. The marine vessel as claimed in claim 12 , wherein the marine vessel control system is operable to cause the thrusts of the outer port engine and the outer starboard engine to be less than the thrusts of the inner port engine and the inner starboard engine in response to:
the input device indicating the movement of the marine vessel in only the lateral direction; and
the thrust intersection point of the outer port engine and the outer starboard engine being farther from the instantaneous center of rotation of the marine vessel than the thrust intersection point of the inner port engine and the inner starboard engine.
14. The marine vessel as claimed in claim 11 , wherein toe-in angles of the inner port engine and the inner starboard engine are adjustable.
15. The marine vessel as claimed in claim 11 , wherein the input device is a joystick.
16. The marine vessel control system as claimed in claim 11 , wherein:
the inner port engine is coupled to the outer port engine; and
the inner starboard is coupled to the outer starboard engine.
17. The marine vessel as claimed in claim 16 , further comprising:
a first tie bar coupling the inner port engine to the outer port engine; and
a second tie bar coupling the inner starboard to the outer starboard engine.
18. The marine vessel as claimed in claim 17 , wherein the actuators comprise:
a first actuator operable to impart steering motion to the inner port engine and to the outer port engine; and
a second actuator operable to impart steering motion to the inner starboard engine and to the outer starboard engine.
19. The marine vessel as claimed in claim 16 , wherein the actuators comprise:
a first actuator operable to impart steering motion to the inner port engine and to the outer port engine; and
a second actuator operable to impart steering motion to the inner starboard engine and to the outer starboard engine.
20. The marine vessel as claimed in claim 16 , wherein:
the inner port engine is coupled to the outer port engine such that angle changes of the inner port engine are non-linearly related to angle changes of the outer port engine; and
the inner starboard engine is coupled to the outer starboard engine such that angle changes of the inner starboard engine are non-linearly related to angle changes of the outer starboard engine.