Device, method and computer program for controlling the propulsion of a marine vessel

Abstract

Device, method and computer program for controlling the propulsion of a marine vessel. The propulsion is achieved by a hydrofoil wheel propulsion system. The method includes: receiving (602) a wheel operating state from a wheel drive; receiving (604) a plurality of hydrofoil operating states from a plurality of hydrofoil drives; receiving (606) a command from a vessel control system; generating (608) wheel control data for the wheel drive based on the command in view of the wheel operating state to control the hydrofoil pitch function of the hydrofoil wheel propulsion system; and generating (610) hydrofoil control data for the plurality of hydrofoil drives based on the command in view of the wheel operating state and the plurality of hydrofoil operating states to further control the hydrofoil pitch function of the hydrofoil wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil drive is generated (612) using a hydrofoil feedforward model.

Description

Technical Field

[0001] Various embodiments relate to a device for controlling the propulsion of a marine vessel, a method for controlling the propulsion of a marine vessel, and computer program code for controlling the propulsion of a marine vessel. Background Art

[0002] A foil wheel propulsion system generates thrust through a combination of the rotation of the fixed points of the foils about a center and the oscillation of the foils that changes their angle of attack over time. Some implementations of such a propulsion system are also known as cyclorotors, trochoidal propellers, or Voith-Schneider propellers (VSPs). Traditionally, the wheel (or rotor) rotates, and the foils (or blades) attached to the wheel change their angle of attack due to a mechanical coupling between the rotation of the wheel and the rotation of the foils.

[0003] DE 10060067A1 discloses a system in which each foil is individually adjustable, independent of the adjustment of the rotor.

[0004] EP 2944556B1 discloses control diagrams or algorithms that use various inputs to control the rotation of a disk and the independent rotation of blades.

[0005] However, further improvements in the control of foil wheel propulsion systems are desired. Summary of the Invention

[0006] According to one aspect, there is provided a device for controlling the propulsion of a marine vessel, comprising:

[0007] A vessel interface that can be coupled to a vessel control system;

[0008] A control interface for controlling a foil wheel propulsion system, the foil wheel propulsion system comprising: a rotatable wheel driven by a wheel motor and controlled by a wheel controller; a plurality of rotatable foils vertically attached to the wheel, each foil being driven by a foil motor and controlled by a foil driver; a wheel sensor for measuring the actual angular wheel position of the wheel; and a plurality of foil sensors for measuring the actual angular foil position of each foil;

[0009] One or more memories including computer program code; and

[0010] One or more processors for executing the computer program code to cause the device to at least perform the following:

[0011] Receive a wheel operation state from the wheel controller;

[0012] Receive a plurality of hydrofoil operation states from a plurality of hydrofoil drivers;

[0013] Receive a command from the ship control system;

[0014] In view of the wheel operation state, based on the command, generate wheel control data for the wheel controller to control the hydrofoil pitch function of the hydrofoil wheel propulsion system; and

[0015] In view of the wheel operation state and the plurality of hydrofoil operation states, based on the command, generate hydrofoil control data for the plurality of hydrofoil drivers to further control the hydrofoil pitch function of the hydrofoil wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil driver is generated using a hydrofoil feedforward model.

[0016] According to one aspect, there is provided a method for controlling the propulsion of a marine vessel, the propulsion being at least partially achieved by a hydrofoil wheel propulsion system, the hydrofoil wheel propulsion system comprising: a rotatable wheel driven by a wheel motor and controlled by a wheel driver; a plurality of rotatable hydrofoils vertically attached to the wheel, each hydrofoil being driven by a hydrofoil motor and controlled by a hydrofoil driver; a wheel sensor for measuring an actual angular wheel position of the wheel; and a plurality of hydrofoil sensors for measuring an actual angular hydrofoil position of each hydrofoil, the method comprising:

[0017] Receive a wheel operation state from the wheel driver;

[0018] Receive a plurality of hydrofoil operation states from a plurality of hydrofoil drivers;

[0019] Receive a command from the ship control system;

[0020] In view of the wheel operation state, based on the command, generate wheel control data for the wheel driver to control the hydrofoil pitch function of the hydrofoil wheel propulsion system; and

[0021] In view of the wheel operation state and the plurality of hydrofoil operation states, based on the command, generate hydrofoil control data for the plurality of hydrofoil drivers to further control the hydrofoil pitch function of the hydrofoil wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil driver is generated using a hydrofoil feedforward model.

[0022] According to one aspect, there is provided a computer-readable medium comprising computer program code which, when executed by one or more processors, causes the execution of a method for controlling the propulsion of a marine vessel, the propulsion being at least partially implemented by a hydrofoil wheel propulsion system, the hydrofoil wheel propulsion system comprising: a rotatable wheel driven by a wheel motor and controlled by a wheel driver; a plurality of rotatable hydrofoils vertically attached to the wheel, each hydrofoil being driven by a hydrofoil motor and controlled by a hydrofoil driver; a wheel sensor for measuring an actual angular wheel position of the wheel; and a plurality of hydrofoil sensors for measuring an actual angular hydrofoil position of each hydrofoil, the method comprising:

[0023] Receiving a plurality of hydrofoil operating states from a plurality of hydrofoil drivers;

[0024] Receiving a command from the vessel control system;

[0025] In view of the wheel operating state, generating, based on the command, wheel control data for the wheel driver to control a hydrofoil pitch function of the hydrofoil wheel propulsion system; and

[0026] In view of the wheel operating state and the plurality of hydrofoil operating states, generating, based on the command, hydrofoil control data for the plurality of hydrofoil drivers to further control the hydrofoil pitch function of the hydrofoil wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil driver is generated using a hydrofoil feedforward model.

[0027] One or more examples of the implementation are set forth in more detail in the drawings and the description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Some embodiments will now be described with reference to the drawings, in which:

[0029] Figure 1 and Figure 2 show an embodiment of an apparatus for controlling the propulsion of a marine vessel;

[0030] Figure 3A and Figure 3B show an embodiment of a hydrofoil wheel propulsion system;

[0031] Figure 4 show an embodiment of a hydrofoil path;

[0032] Figure 5 show other embodiments of an apparatus for controlling the propulsion of a marine vessel;

[0033] Figure 6 is a flowchart showing an embodiment of a method for controlling the propulsion of a marine vessel;

[0034] Figure 7 and Figure 8 and Figure 9 illustrate other embodiments of a device for controlling the propulsion of a marine vessel; and

[0035] Figure 10A and Figure 10B illustrate other embodiments of a hydrofoil wheel propulsion system. DETAILED DESCRIPTION

[0036] The following embodiments are merely examples. Although the specification may refer to "an" embodiment in several places, this does not necessarily mean that each such reference refers to the same embodiment, or that the features apply only to a single embodiment. Individual features of different embodiments may also be combined to provide other embodiments. In addition, the words "comprising" and "including" should be understood not to limit the described embodiments to only the features that have been mentioned, and such embodiments may also include features / structures not specifically mentioned.

[0037] Reference numerals in both the description of the embodiments and the claims are used to refer to the embodiments illustrated in the drawings, rather than being limited to these examples.

[0038] If there are any embodiments and features disclosed in the following description that do not fall within the scope of the independent claims, they should be construed as examples to facilitate understanding of the various embodiments of the present invention.

[0039] Let us study simultaneously the Figure 1 and Figure 2 and Figure 5 illustrating embodiments of a method for controlling the propulsion of a marine vessel 102 Figure 6 . The method may be implemented as an algorithm 526 executed by a device 100 programmed with computer program code 504 as a dedicated computer.

[0040] Apparatus 100 includes a marine interface 506 that can be coupled to a marine control system 106. The marine control system 106 can interact with a crew member 110 via a user interface 108. The crew member 110 is a person who operates an ocean vessel 102 or a person who assists a captain, navigator, officer, watchstander, helmsman, or other deck crew member or even a pilot as a member of the ship's crew. The user interface 108 enables the presentation of graphical information, textual information, and possibly also auditory information to the crew member 110. The user interface can be used to perform required user actions related to maneuvering the ocean vessel 102, such as giving propulsion commands and steering commands. The user interface can be implemented using various technologies, such as a rudder, a display, a keyboard, a keypad, buttons, a joystick, switches, means for focusing a cursor (mouse, trackball, arrow keys, touch-sensitive area, etc.), elements for implementing audio control, and the like. For example, the propulsion commands and steering commands can relate to rudder pitch, driving pitch, and rotation.

[0041] Apparatus 100 also includes a control interface 508 for controlling a hydrofoil wheel propulsion system 104.

[0042] The hydrofoil wheel propulsion system 104 includes a rotatable wheel 204 and a plurality of rotatable hydrofoils 214A, 214B, 214C, 214D vertically attached to the wheel 204.

[0043] As Figure 3A shown, the wheel 204 can be configured to rotate in a substantially horizontal position that is substantially parallel to the bottom of the ocean vessel 102, and each hydrofoil 214A, 214B, 214C, 214D is configured to rotate in a substantially vertical position. In an embodiment, the number of hydrofoils 214A, 214B, 214C, 214D is four, but the number of hydrofoils 214A, 214B, 214C, 214D can vary such that there are fewer (e.g., two) or more hydrofoils 214A, 214B, 214C, 214D. The hydrofoils 214A, 214B, 214C, 214D can be arranged symmetrically about the axis of rotation of the wheel 204. For each hydrofoil 214A, 214B, 214C, 214D, the eccentricity with respect to the axis of rotation of the wheel 204 can be adjusted by a foil pitch function 532.

[0044] As Figure 3B shown, the wheel 204 can alternatively be configured to rotate in a substantially vertical position that is substantially perpendicular to the bottom of the ocean vessel 102, and each hydrofoil 214A, 214B, 214C, 214D is configured to rotate in a substantially horizontal position.

[0045] The rotatable wheel 204 is driven by a wheel motor 202 and controlled by a wheel controller 200 .

[0046] Each hydrofoil 214A, 214B, 214C, 214D is driven by a hydrofoil motor 212A, 212B, 212C, 212D and controlled by a hydrofoil drive 210A, 210B, 210C, 210D.

[0047] In an embodiment, each motor 212A, 212B, 212C, 212D is an electric motor, and each drive 210A, 210B, 210C, 210D is a controller of the electrical energy sent to the motor 212A, 212B, 212C, 212D. In an embodiment, each drive 210A, 210B, 210C, 210D is a frequency converter such as an ABB HES880 mobile drive.

[0048] In an embodiment, the wheel motor 202 is an electric motor and the wheel controller 200 is a wheel drive configured to control the electrical energy sent to the electric motor 202. In an embodiment, the wheel drive is a frequency converter such as an ABB ACS600 drive.

[0049] In an embodiment, the wheel motor 202 is the engine 114, and the wheel controller 200 is configured to electronically control the engine 114. For example, the wheel controller 200 may be configured to change the speed (RPM) of the engine 202, 114. Figure 1 As shown, one or more gearboxes 112 (connected in series) are configured to transmit mechanical power from the engine 114 to the wheels 204 .

[0050] Essentially, the electrical energy consumed by the electric motors 202, 212A, 212B, 212C, 212D may be generated by any suitable technology usable in the marine vessel 102, including but not limited to: one or more engines such as diesel motors or gasoline engines and / or one or more other types of electrical energy sources, such as renewable electrical energy sources, generators, or electrical energy storage 116 such as battery banks and / or (super)capacitor banks. Essentially, the engines 114 or generators may be used to generate the electrical energy that is stored in the electrical energy storage 116.

[0051] In an embodiment, the wheel motor 202 is an engine 114 (e.g., a diesel engine) controlled by a suitable wheel controller 200, while the hydrofoil motors 212A, 212B, 212C, 212D are electric motors controlled by hydrofoil drivers 210A, 210B, 210C, 210D. The engine 114 can operate at an optimal (from the perspective of fuel consumption rate or SFOC) speed, and the required thrust can be adjusted by using the control of the described hydrofoil pitch function 532 instead of adjusting the speed of the engine 114. This enables various configurations in the case of hybrid propulsion with power take-off / power take-in (PTO / PTI), energy storage, etc. For example, during periods of lower propulsion power, the engine 114 is used to charge an electrical energy storage 116 (such as a battery). Feedforward control can calculate the required wheel 204 speed (rpm) in the case of the engine-driven wheels 204 and send a reference wheel speed to the control of the engine 114.

[0052] The hydrofoil wheel propulsion system 104 also includes a wheel sensor 206 for measuring the actual angular wheel position of the wheel 204 and a plurality of hydrofoil sensors 216A, 216B, 216C, 216D for measuring the actual angular hydrofoil position of each hydrofoil 214A, 214B, 214C, 214D.

[0053] The kinematics of the hydrofoil wheel propulsion system can be defined by Equation 1:

[0054]

[0055] where:

[0056] λ is the absolute advance coefficient,

[0057] v a is the ship speed,

[0058] ω is the rotational rate of the wheel, and

[0059] R is the radius of the wheel.

[0060] The trajectory of each hydrofoil 214A, 214B, 214C, 214D can be described by the trochoids 410, 412, 414 shown in Figure 4 . The trochoids 410, 412, 414 are the roulette (curves) drawn by a fixed point on the circle 400 as the circle 400 rolls along the straight line 408. If the point 406 is outside the circle 400, a prolate trochoid 410 is drawn. If the point 404 is on the circle 400, a common trochoid 412 is drawn. If the point 402 is inside the circle 400, a curtate trochoid 414 is drawn.

[0061] In an embodiment, each hydrofoil 214A, 214B, 214C, 214D is configured to travel along a long curtate cycloid 410 where λ < 1 and which may also be referred to as an epicycloid trajectory, or is configured to travel along a short curtate cycloid 414 where λ > 1 and which may also be referred to as a curtate cycloid trajectory.

[0062] Note that Figure 1 Only one hydrofoil wheel propulsion system 104 is shown, but the marine vessel 102 may also include one or more additional hydrofoil wheel propulsion systems 104 and may also include one or more other types of propulsion systems. In an embodiment, the apparatus 100 centrally controls more than one hydrofoil wheel propulsion system 104 to further optimize system performance.

[0063] The apparatus includes one or more memories 502 including computer program code 504, and one or more processors 500 for executing the computer program code 504 to cause the apparatus 100 to perform a method that is an algorithm 526 for controlling the propulsion of the marine vessel 102.

[0064] The term "processor" 500 refers to a device capable of processing data. Depending on the required processing power, the apparatus 100 may include several processors 500, such as parallel processors, multi-core processors, or a computing environment that simultaneously utilizes resources from several physical computer units (sometimes this computing environment is referred to as cloud, fog, or virtualized computing environment). When designing an implementation of the processor 500, for example, those skilled in the art will consider the requirements set for the size and power consumption of the apparatus 100, the necessary processing power, the production cost, and the production volume.

[0065] The term "memory" 502 refers to a device capable of storing data during runtime (= working memory) or permanently (= non-volatile memory). The working memory and non-volatile memory may be implemented by random access memory (RAM), dynamic RAM (DRAM), static RAM (SRAM), flash memory, solid state drive (SSD), PROM (programmable read-only memory), suitable semiconductors, or any other means of implementing an electronic computer memory.

[0066] A non-exhaustive list of implementation technologies for the processor 500 and the memory 502 includes but is not limited to: logic components, standard integrated circuits, application specific integrated circuits (ASIC), system on a chip (SoC), application specific standard products (ASSP), microprocessors, microcontrollers, digital signal processors, dedicated computer chips, field programmable gate arrays (FPGA), and other suitable electronic structures.

[0067] The computer program code 504 can be implemented by software. In an embodiment, the software can be written in a suitable programming language, and the generated executable code can be stored in the memory 502 and executed by the processor 500.

[0068] An embodiment provides a computer-readable medium 510 storing the computer program code 504, which, when loaded into and executed by one or more processors 500, causes the one or more processors 500 to execute the algorithm / method to be explained with reference to Figure 6 The computer-readable medium 510 can include at least the following: any entity or device capable of carrying the computer program code 504 to one or more processors 500, a recording medium, a computer memory, a read-only memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium. In some jurisdictions, according to legislation and patent practice, the computer-readable medium 510 may not be a telecommunication signal. In an embodiment, the computer-readable medium 510 can be a computer-readable storage medium. In an embodiment, the computer-readable medium 510 can be a non-transitory computer-readable storage medium.

[0069] The computer program code 504 implements an algorithm 526 for controlling the propulsion of the marine vessel 102. The computer program code 504 can be encoded as a computer program (or software) using a programming language, for example, the programming language can be a high-level programming language such as C, C++, or Java, or a low-level programming language such as machine language or assembly. The computer program code 504 can be in source code form, object code form, an executable file, or some intermediate form. There are many ways to structure the computer program code 504: depending on the software design method and the programming language used, operations can be divided into modules, subroutines, methods, classes, objects, applets, macros, etc. In a modern programming environment, there are software libraries that can be utilized by the computer program code 504 to perform various standard operations, that is, the compilation of off-the-shelf functions. Additionally, an operating system (such as a general operating system) can provide system services to the computer program code 504.

[0070] In an embodiment, one or more processors 500 can be implemented as one or more microprocessors that implement the functions of a central processing unit (CPU) on an integrated circuit. The CPU is a logical machine that executes the computer program code 504. The CPU can include a set of registers, an arithmetic logic unit (ALU), and a control unit (CU). The control unit is controlled by the sequence of the computer program code 504 transferred from the (working) memory 502 to the CPU. The control unit can contain multiple microinstructions for basic operations. Depending on the design of the CPU, the implementation of the microinstructions can be different.

[0071] In an embodiment, the device 100 can be a stand-alone device 100 as shown in Figure 1 That is, different from the ship control system 106 and the hydrofoil propulsion system 104, the device 100 is a separate integrated unit.

[0072] However, in an alternative embodiment, at least a part of the structure of the device 100 can be distributed more or less together with another device. In an embodiment, the functions of the device 100 are distributed within the Figure 2 roles shown. Therefore, the device 100 can be implemented within a stand-alone device 100 and / or within the wheel controller 200 and / or within one or more hydrofoil drivers 210A, 210B, 210C, 210D. In this way, the distributed processing capabilities can be utilized as realized in the actual implementation.

[0073] In another embodiment, the device 100 is a networked server device accessible via a communication network. The networked server device 100 can be a networked computer server that interoperates with the ship control system 106 and the hydrofoil propulsion system 104 according to a client-server architecture, a cloud computing architecture, a peer-to-peer system, or another suitable computing architecture.

[0074] The communication between the roles 100, 104, 106, 108 (which refer to the device 100, the hydrofoil propulsion system 104, the ship control system 106, and the user interface 108 respectively in the embodiment) can be implemented using a suitable standard / proprietary wireless / wired communication protocol, such as an industrial control bus, Ethernet, Bluetooth, Bluetooth Low Energy, Wi-Fi, WLAN, Zigbee, etc.

[0075] Now let's refer to Figure 6 to study the algorithm / method.

[0076] The method starts at 600 and ends at 616. Note that the method can run for a sufficient length of time as needed (after the device 100 is started until the device 100 is shut down) through a loop 614 that goes back from operation 610 to operation 602.

[0077] The operations do not necessarily have to be strictly in the order shown in Figure 6It is carried out in the chronological order in [the relevant context], and some of the operations in the operation can be executed simultaneously or in a different order from the given one. For example, operations 602, 604, and 606 can be executed in a different order or even in parallel. Other functions can also be executed between operations or within other data exchanged between operations. Some of the operations in the operation or parts of the operations in the operation can also be ignored or replaced by corresponding operations or parts of the operations. It should be noted that, except when necessary due to logical requirements for the processing order, no special operation order is required.

[0078] In 602, receive the wheel operation state 520 from the wheel controller 200.

[0079] In 604, receive a plurality of hydrofoil operation states 522 from a plurality of hydrofoil drivers 210A, 210B, 210C, 210D.

[0080] In 606, receive the command 524 from the ship control system 106.

[0081] In 608, in view of the wheel operation state 520 and based on the command 524, generate wheel control data 528 for the wheel controller 200 to control the hydrofoil pitch function 532 of the hydrofoil wheel propulsion system 104.

[0082] In 610, in view of the wheel operation state 520 and a plurality of hydrofoil operation states 522 and based on the command 524, generate hydrofoil control data 530 for a plurality of hydrofoil drivers 210A, 210B, 210C, 210D to further control the hydrofoil pitch function 532 of the hydrofoil wheel propulsion system 104. As part of 610, in 612, use the hydrofoil feedforward model to generate the reference torque of the hydrofoil control data for each hydrofoil driver 210A, 210B, 210C, 210D.

[0083] Note that in this application, "reference" is a symbol for the set (or desired) control parameter value, while "actual" is used for the measured control parameter value.

[0084] The hydrofoil feedforward model refers to the essence of control: the command 524 from the ship control system 106 causes predefined control of the hydrofoil pitch function 532 without responding to how the loads on the hydrofoils 214A, 214B, 214C, 214D react. This control is based on knowledge of the hydrofoil pitch function 532 in the form of a mathematical model and knowledge of the disturbances. However, feedback is achieved by utilizing the wheel operating state 520 and the multiple hydrofoil operating states 522. The wheel operating state 520 may include the (set) reference control parameter values and the (measured) actual control parameter values of the wheel 204. The hydrofoil operating states 522 may include the (set) reference control parameter values and the (measured) actual control parameter values of each hydrofoil 214A, 214B, 214C, 214D. Note that the control of the wheel 204 can be achieved through the wheel feedforward model.

[0085] To achieve high-performance (e.g., high efficiency, high thrust, etc.) operation, the hydrofoil-wheel propulsion system 104 needs to follow the predefined hydrofoil pitch function 532 with high precision. However, there are several problems that make the motion control of the hydrofoil-wheel propulsion system 104 difficult. First, the hydrofoil pivot points are generally not aligned with the principal inertia axes of the hydrofoils. Due to this misalignment and wheel rotation, centrifugal moments will be induced. Second, many high-efficiency hydrofoil pitch functions 532 require high accelerations and high acceleration rates of change for hydrofoil motion, which are difficult to achieve for the hydrofoil motors 212A, 212B, 212C, 212D and the hydrofoil drivers 210A, 210B, 210C, 210D. Third, for some hydrofoil pitch functions 532, such as the epitrochoid trajectory 410 (e.g., used by the VSP), the hydrofoil rotational speed changes the direction of rotation, which means that the hydrofoil motors 212A, 212B, 212C, 212D need to compensate for the frictional torque. In addition to these problems, the hydrodynamic loads applied to the hydrofoils 214A, 214B, 214C, 214D will also generate hydrofoil pitch function tracking errors. Errors in following the specified hydrofoil pitch function 532 will result in degraded propeller performance, increased wheel motor torque, and reduced efficiency.

[0086] Device 100 and Figure 6The method implements a motion control configuration method for the hydrofoils 214A, 214B, 214C, 214D driven by the hydrofoil motors 212A, 212B, 212C, 212D. The device 100 receives a command 524 (a thrust command or another type of command related to propulsion) from the (higher-level) ship control system 106, collects the hydrofoil operation state 522 and the wheel operation state 520, and then creates hydrofoil control data 530 for each individual hydrofoil drive 210A, 210B, 210C, 210D and wheel control data 528 for the wheel controller 200 to control the hydrofoil pitch function 532. Each hydrofoil 214A, 214B, 214C, 214D can be in a position control mode, and the wheel 204 can be in a speed control mode or a position control mode. Controlling each hydrofoil 214A, 214B, 214C, 214D using the position control mode enables precise control of the hydrofoil pitch function 532. Controlling the wheel 204 using the speed mode is a simple solution, while controlling the wheel 204 using the position control mode can achieve some other functions, such as side force compensation. Since the hydrofoil-wheel propulsion system 104 is controlled as an integrated unit, optimal system performance (regarding efficiency, thrust, etc.) is achieved. This control can also achieve other functions, for example, maintaining the system operation performance even if one or more hydrofoils 214A, 214B, 214C, 214D are in a fault mode.

[0087] In an embodiment, a reference torque 612 is generated as described below.

[0088] In 620, the actual angular wheel position is received as part of the wheel operation state 520. In 622, the actual wheel speed is received as part of the wheel operation state 520, or alternatively, in 630, the actual wheel speed is generated based on a plurality of actual angular wheel positions. In 624, the reference angular hydrofoil position of each hydrofoil 214A, 214B, 214C, 214D is received as part of the hydrofoil operation state 522. In 626, the reference hydrofoil speed of each hydrofoil 214A, 214B, 214C, 214D is received as part of the hydrofoil operation state 522. In 628, the reference hydrofoil acceleration of each hydrofoil 214A, 214B, 214C, 214D is received as part of the hydrofoil operation state 522.

[0089] At 612, a reference torque for the hydrofoil control data 530 for each of the hydrofoil drivers 210A, 210B, 210C, 210D is generated using a feedforward model, the inputs of which are the actual angular wheel position, the reference angular hydrofoil position, the actual wheel speed, the reference hydrofoil speed, and the reference hydrofoil acceleration. The reference torque is modified by a position feedback torque that describes the torque difference between the reference angular hydrofoil position and the actual angular hydrofoil position and a speed feedback torque that describes the torque difference between the reference hydrofoil speed and the actual hydrofoil speed.

[0090] The reference angular position θ of each hydrofoil foil_i_ref can be defined by Equation 2:

[0091]

[0092] wherein constants are defined:

[0093] N = the number of hydrofoils per wheel,

[0094] i = the index of the hydrofoil along the wheel rotation direction,

[0095] wherein the sensor measurement signal is:

[0096] θ wheel = the actual angular wheel position (0 - 360 degrees),

[0097] θ foil_i_act = the actual angular position of the i-th hydrofoil (0 - 360 degrees),

[0098] and wherein the control command is:

[0099] e c = the reference eccentricity,

[0100] ψ = the reference yaw angle, and

[0101] τ i_ff = the torque feedforward command for the i-th hydrofoil.

[0102] The reference torque τ for the i-th hydrofoil motor i_total can be defined by Equation 3:

[0103]

[0104] wherein,

[0105] τ i_pos_fb = the torque value from position feedback control for the i-th hydrofoil,

[0106] τ i_speed_fb = the torque value from speed feedback control for the i-th hydrofoil,

[0107] τ i_ff = The torque value from the feedforward compensation for the i-th hydrofoil,

[0108] Ω wheel = The actual wheel speed (revolutions per minute),

[0109] Ω foil_i_act = The reference hydrofoil speed of the i-th hydrofoil,

[0110] Ω foil_i_ref = The reference hydrofoil speed of the i-th hydrofoil, and

[0111] a foil_i_ref = The reference hydrofoil acceleration of the i-th hydrofoil.

[0112] The above-described implementation using model-based torque feedforward compensation provides accurate torque values to compensate for centrifugal torque, acceleration torque, frictional torque, and hydrodynamic torque, which are difficult to achieve with feedback control.

[0113] This implementation can deploy at least two different options in the hydrofoil drivers 210A, 210B, 210C, 210D. In the first option, an external torque control mode is used. The position loop, speed loop, and feedforward calculation are performed in the device 100. The sum of the position loop, speed loop, and feedforward value is sent to the hydrofoil drivers 210A, 210B, 210C, 210D as the torque reference. In the second option, a speed controller mode is used. The speed control runs in the hydrofoil drivers 210A, 210B, 210C, 210D. The position control and feedforward calculation are performed in the device 100. The sum of the position loop and feedforward value is sent to the hydrofoil drivers 210A, 210B, 210C, 210D as the external torque reference. The second option utilizes the resources of the hydrofoil drivers 210A, 210B, 210C, 210D and reduces the load on the device 100 and the communication between the device 100 and the hydrofoil drivers 210A, 210B, 210C, 210D.

[0114] In the implementation shown with reference to Figure 7 and Figure 8 the reference torque 612 is generated as described below.

[0115] At 602, the actual angular wheel position is received as part of the wheel operating state 520. At 632, the actual angular hydrofoil position of each hydrofoil 214A, 214B, 214C, 214D is received as part of the hydrofoil operating state 522. At 634, the actual hydrofoil speed is received as part of the hydrofoil operating state 522, or alternatively, at 636, the actual hydrofoil speed is generated based on multiple actual angular hydrofoil positions. At 638, the actual hydrofoil torque of each hydrofoil 214A, 214B, 214C, 214D is received as part of the hydrofoil operating state 522. At 640, one or more parameters are received from the hydrofoil pitch function 532.

[0116] At 642, 644, 646, based on the actual angular wheel position and the one or more parameters, the reference hydrofoil speeds 810, reference angular hydrofoil positions 812, and reference hydrofoil accelerations 814 of each hydrofoil 214A, 214B, 214C, 214D are generated.

[0117] At 612, based on the reference hydrofoil speeds 810, reference angular hydrofoil positions 812, and reference hydrofoil accelerations 814 of each hydrofoil 214A, 214B, 214C, 214D, the reference torques 820 of each hydrofoil 214A, 214B, 214C, 214D are generated.

[0118] At 648, the reference torque 820 of each hydrofoil 214A, 214B, 214C, 214D is adjusted based on the actual hydrofoil torque 822 of each hydrofoil 214A, 214B, 214C, 214D.

[0119] Optionally, at 650, the reference hydrofoil speed 810 of each hydrofoil 214A, 214B, 214C, 214D is adjusted based on the actual hydrofoil speed 816 of each hydrofoil 214A, 214B, 214C, 214D.

[0120] Optionally, at 652, the reference angular hydrofoil position 812 of each hydrofoil 214A, 214B, 214C, 214D is adjusted based on the actual angular hydrofoil position 818 of each hydrofoil 214A, 214B, 214C, 214D.

[0121] Optionally, at 654, the reference hydrofoil acceleration 814 of each hydrofoil 214A, 214B, 214C, 214D is adjusted using the acceleration feedforward model 804.

[0122] As Figure 7As shown, the hydrofoil pitch function 532 provides one or more parameters (e.g., set pitch function parameters) for the wheel controller 200 and provides the one or more parameters (e.g., set pitch function parameters) to the propulsion controls 700, 702 of the hydrofoil drivers 210A, 210B, 210C, 210D.

[0123] In an implementation, the propulsion control can be divided into two functional blocks: a motion reference generation block 700 and a hydrofoil motion control block 702. These blocks are shown in more detail in Figure 8 .

[0124] The motion reference generation block 700 receives one or more parameters from the hydrofoil pitch function 532 and generates a reference angular hydrofoil position θ wheel , a reference hydrofoil velocity Ω foil_ref , and a reference hydrofoil acceleration a foil_ref for each hydrofoil 214A, 214B, 214C, 214D based on the actual angular wheel position θ foil_ref .

[0125] The hydrofoil pitch function 532 (i.e., the motion reference) can be a trochoidal function, a cycloidal function, a sine function, a spline function, or any other type of suitable periodic function.

[0126] The period of the hydrofoil pitch function 532 is based on the actual angular wheel position θ wheel . Each rotation is one period. The wheel 204 also rotates based on one or more parameters. For example, one or more parameters of the wheel 204 can be the flow of the rotational speed or the angular position.

[0127] For example, if the hydrofoil pitch function 532 is a trochoidal function or a cycloidal function, the one or more parameters can be a combination of the reference wheel speed Ω wheel_ref , the eccentricity e c of the hydrofoils 214A, 214B, 214C, 214D, and the yaw angle ψ. Based on the actual angular wheel position θ wheel , the outputs of the motion reference generation block 700: the reference angular hydrofoil position θ foil_ref , the reference hydrofoil velocity Ω foil_ref , and the reference hydrofoil acceleration a foil_ref can be defined by Equations 4, 5, and 6.

[0128]

[0129] Where:

[0130] S e is the sign of the eccentricity.

[0131] The hydrofoil motion control block 702 receives a reference angle hydrofoil position θ foil_ref , a reference hydrofoil speed Ω foil_ref and a reference hydrofoil acceleration a foil_ref , and based on the actual angle hydrofoil position hydrofoil θ foil_act , the actual hydrofoil speed Ω foil_act and the actual torque τ act (or motor current), generates a reference torque τ for each of the hydrofoil drives 210A, 210B, 210C, 210D ref . As Figure 8 shown, the hydrofoil motion control block 702 can be implemented centrally in the device 100, but it can also be implemented in a distributed manner in each of the hydrofoil drives 210A, 210B, 210C, 210D.

[0132] In an embodiment, the hydrofoil motion control block 702 includes position control loops 818, 802, speed control loops 816, 800, acceleration feedforward 804, and torque control loops 822, 806. The position control loops 818, 802 and the speed control loops 816, 800 can be connected in parallel as Figure 8 shown, but they can also be connected serially. The outputs of these two loops 818, 802 and 816, 800 are added together with the acceleration feedforward 804 for setting the input reference torque to the torque control loops 822, 806.

[0133] The position control loops 818, 802 and the torque control loops 822, 806 can be closed feedback loops. The acceleration feedforward 804 can be an open loop. The speed control loops 818, 800 can be a closed feedback loop as Figure 8 shown, but they can also be an open loop. The purpose of the closed control loops is to minimize the error between the reference signal and the actual signal. The controller used in the closed control loop can be a PID (Proportional-Integral-Derivative) controller, a PI (Proportional-Integral) controller, a P (Proportional) controller, an LQR (Linear-Quadratic Regulator) controller, or any other type of suitable feedback controller.

[0134] In the embodiment shown with reference to Figure 9 , the reference torque 612 is generated as described below.

[0135] In 656, the second derivative 900 is applied to the hydrofoil pitch function 532 to generate a torque compensation command.

[0136] In 658, the torque compensation command is multiplied by a torque compensation constant to generate a reference torque 910 for the foil control data 530 for each of the foil drives 210A, 210B, 210C, 210D.

[0137] In calculus, the second derivative 900 of the foil pitch function 532 is the derivative of the derivative of the foil pitch function 532. It can be said that the second derivative measures how the rate of change of a quantity itself changes: the second derivative of the actual angle foil position with respect to time is the instantaneous acceleration of the foils 214A, 214B, 214C, 214D.

[0138] Such torque feedforward compensation can improve pitch control accuracy. The torque compensation command is generated by the control of the foil pitch function 532. The second derivative is applied to the foil pitch function 532 instead of its output, the reference angle foil position 912 or the actual angle foil position 914. The torque compensation command is multiplied by a torque compensation constant in order to obtain the reference torque 910. Note that the reference angle foil position 912 and the actual angle foil position 914 are input to the position control loops 914, 902 and also to the torque control loops 916, 904.

[0139] Let us take the foil trochoidal pitch function 532 as an example, but the present embodiment can also be applied to other pitch functions. After the second derivative has been applied to the foil trochoidal pitch function 532, Equation 7 is obtained:

[0140]

[0141] Where:

[0142] a foil is the realized foil acceleration signal,

[0143] Ω wheel is the actual wheel speed,

[0144] e c is the eccentricity of the foil,

[0145] ψ is the yaw angle, and

[0146] θ wheel is the actual angle wheel position.

[0147] Prior art torque feedforward compensation signals come from acceleration measurements or from acceleration commands. The compensation is derived from the second derivative of a position measurement or a position command. The problem is that both signals are noisy and, as a result, their second derivative signals are also noisy. Compared with prior art torque compensation methods, the signals according to the present embodiment are free from the noise problem.

[0148] In reference Figure 10A and Figure 10BIn the illustrated embodiment, the hydrofoil wheel propulsion system 104 can be used as steering assistance. Note that this embodiment can be used independently of all other described embodiments as a stand-alone embodiment.

[0149] At 660, a steering command is received from the vessel control system 106 indicating that the hydrofoil wheel propulsion system 104 steers the marine vessel 102.

[0150] At 608 and 610, wheel control data 528 for the wheel controller 200 and hydrofoil control data 530 for the plurality of hydrofoil drives 210A, 210B, 210C, 210D are generated based on the steering command.

[0151] Thus, instead of propulsion control, or in addition to propulsion control, steering control can also be performed by the device 100.

[0152] In an embodiment, if the main propulsion is stopped or lost, the individual hydrofoils 214A, 214B, 214C, 214D can be controlled like a rudder. The main propulsion can come from the rotation of the wheel 204, but another propulsion unit can also act as the main propulsion. For example, another propulsion unit can be another hydrofoil wheel propulsion system, or another type of propulsion unit, such as a propeller or a azimuth propulsion unit. The steering force can be established using the normal lift of the hydrofoils 214A, 214B, 214C, 214D. In this way, this embodiment implements a backup rudder function, but in some cases, this embodiment can implement the (main) rudder function. Depending on the implementation, all or some of the maneuvering capabilities are available according to the available flow 1000 (= vessel speed).

[0153] In Figure 10A In the normal operation shown, the wheel 204 rotates 1002, and the hydrofoils 214A, 214B, 214C, 214D generate thrust and steering force.

[0154] In Figure 10B In the alternative operation shown, the rotation of the wheel 204 is stopped, so the propulsion force is minimal and the hydrofoils 214A, 214B, 214C, 214D are controlled like a rudder. Even when no thrust is available, a certain amount of steering force will be available.

[0155] This embodiment can be used in a twin-ended ferry (having two or more hydrofoil wheel propulsion systems 104), where the front hydrofoil wheel propulsion system 104 is retained as a "rudder" to minimize its drag, because due to the large thrust deduction (at the front of the ship), thrust cannot be effectively generated, while the rear hydrofoil wheel propulsion system 104 is used to generate thrust. Additionally, a ship having at least two hydrofoil wheel propulsion systems 104 (and, for example, a diesel mechanical shaft connected to a propeller) can optimize the load of the working diesel engine at a lower speed to obtain the lowest SFOC / kW (specific fuel oil consumption rate). In this way, the drag of the propeller can be minimized (providing the possibility of optimizing the load of the power generation device / diesel engine) or the drag of the propeller can be used as a rudder for steering.

[0156] Based on a steering command, steering can be generated in the following ways: by rotating the wheel 204 and locking the hydrofoils 214A, 214B, 214C, 214D, or by locking the wheel 204 and rotating the hydrofoils 214A, 214B, 214C, 214D, or by keeping the wheel 204 and the hydrofoils 214A, 214B, 214C, 214D rotating. In the last option, the angle of attack can be selected according to the wake field that generates the maximum lift (the maximum lateral force for steering). At lower speeds, the embodiment provides a flap rudder-like structure for improving the lateral force by utilizing a larger angle of the hydrofoils 214A, 214B, 214C, 214D on the stern side. The term flap rudder refers to a multi-section rudder, where the hinged stern part serves as an additional control surface.

[0157] Although the present invention has been described with reference to one or more embodiments according to the accompanying drawings, it is obvious that the present invention is not limited thereto, but can be modified in various ways within the scope of the appended claims. All words and expressions should be interpreted broadly, and they are intended to illustrate rather than limit the embodiments. It is obvious to those skilled in the art that with the progress of technology, the inventive concept of the present invention can be implemented in various ways.

Claims

1. A device (100) for controlling the propulsion of a marine vessel (102), comprising: A vessel interface (506) couplable to a vessel control system (106); A control interface (508) for controlling a hydrofoil wheel propulsion system (104), the hydrofoil wheel propulsion system (104) comprising: A rotatable wheel (204) driven by a wheel motor (202) and controlled by a wheel controller (200); A plurality of rotatable hydrofoils (214A, 214B, 214C, 214D) vertically attached to the wheel (204), each hydrofoil (214A, 214B, 214C, 214D) being driven by a hydrofoil motor (212A, 212B, 212C, 212D) and controlled by a hydrofoil driver (210A, 210B, 210C, 210D); A wheel sensor (206) for measuring the actual angular wheel position of the wheel (204); And a plurality of hydrofoil sensors (216A, 216B, 216C, 216D) for measuring the actual angular hydrofoil position of each hydrofoil (214A, 214B, 214C, 214D); One or more memories (502) including computer program code (504); And One or more processors (500) for executing the computer program code (504) to cause the device (100) to at least perform the following: Receive (602) a wheel operation state (520) from the wheel controller (200); Receive (604) a plurality of hydrofoil operation states (522) from a plurality of hydrofoil drivers (210A, 210B, 210C, 210D); Receive (606) a command (524) from the vessel control system (106); In view of the wheel operation state (520), based on the command (524), generate (608) wheel control data (528) for the wheel controller (200) to control the hydrofoil pitch function (532) of the hydrofoil wheel propulsion system (104); And In view of the wheel operation state (520) and the plurality of hydrofoil operation states (522), based on the command (524), generate (610) hydrofoil control data (530) for the plurality of hydrofoil drivers (210A, 210B, 210C, 210D) to further control the hydrofoil pitch function (532) of the hydrofoil wheel propulsion system (104), wherein a reference torque for the hydrofoil control data for each hydrofoil driver (210A, 210B, 210C, 210D) is generated (612) using a hydrofoil feedforward model.

2. The device according to claim 1, wherein Cause the device (100) to perform: Receive (620) the actual angular wheel position as part of the wheel operation state (I0); Receive (622) an actual wheel speed as part of the wheel operation state (520), or generate (630) the actual wheel speed based on a plurality of actual angular wheel positions; Receive (624) the reference angular hydrofoil positions of each hydrofoil (214A, 214B, 214C, 214D) as part of the hydrofoil operating state (522); Receive (626) the reference hydrofoil speeds of each hydrofoil (214A, 214B, 214C, 214D) as part of the hydrofoil operating state (522); Receive (628) the reference hydrofoil accelerations of each hydrofoil (214A, 214B, 214C, 214D) as part of the hydrofoil operating state (522); and Generate (612) a reference torque for each hydrofoil actuator (210A, 210B, 210C, 210D) of the hydrofoil control data (530) using the feedforward model, the inputs of the feedforward model being the actual angular wheel position, the reference angular hydrofoil positions, the actual wheel speed, the reference hydrofoil speeds and the reference hydrofoil accelerations, and the reference torque being modified by a position feedback torque that describes the torque difference between the reference angular hydrofoil position and the actual angular hydrofoil position and by a speed feedback torque that describes the torque difference between the reference hydrofoil speed and the actual hydrofoil speed.

3. The apparatus according to claim 1, wherein Cause the device (100) to perform: Receive (620) the actual angular wheel position as part of the wheel operating state (520); Receive (632) the actual angular hydrofoil positions of each hydrofoil (214A, 214B, 214C, 214D) as part of the hydrofoil operating state (522); Receive (634) the actual hydrofoil speed as part of the hydrofoil operating state (522), or generate (636) the actual hydrofoil speed based on a plurality of actual angular hydrofoil positions; Receive (638) the actual hydrofoil torques of each hydrofoil (214A, 214B, 214C, 214D) as part of the hydrofoil operating state (522); Receive (640) one or more parameters from the hydrofoil pitch function (532); Generate (642, 644, 646) a reference hydrofoil speed (810), a reference angular hydrofoil position (812) and a reference hydrofoil acceleration (814) for each hydrofoil (214A, 214B, 214C, 214D) based on the actual angular wheel position and the one or more parameters; Generate (612) the reference torque (820) for each hydrofoil (214A, 214B, 214C, 214D) based on the reference hydrofoil speed (810), the reference angular hydrofoil position (812) and the reference hydrofoil acceleration (814) of each hydrofoil (214A, 214B, 214C, 214D); and Adjust (648) the reference torque (820) for each hydrofoil (214A, 214B, 214C, 214D) based on the actual hydrofoil torque (822) of each hydrofoil (214A, 214B, 214C, 214D).

4. The apparatus according to claim 3, wherein, Cause the device (100) to perform: Adjust (650) the reference hydrofoil speed (810) for each hydrofoil (214A, 214B, 214C, 214D) based on the actual hydrofoil speed (816) of each hydrofoil (214A, 214B, 214C, 214D); Adjust (652) the reference angular hydrofoil position (812) for each hydrofoil (214A, 214B, 214C, 214D) based on the actual angular hydrofoil position (818) of each hydrofoil (214A, 214B, 214C, 214D); and Adjust (654) the reference hydrofoil acceleration (814) for each hydrofoil (214A, 214B, 214C, 214D) using an acceleration feed - forward model (804).

5. The apparatus according to claim 1, wherein Cause the device (100) to perform: Apply (656) the second - order derivative (900) to the hydrofoil pitch function (532) to generate a torque compensation command; and Multiply (658) the torque compensation command by a torque compensation constant to generate a reference torque (910) for the hydrofoil control data (530) for each hydrofoil actuator (210A, 210B, 210C, 210D).

6. The apparatus according to claim 1, wherein, Cause the device (100) to perform: Receive (660) from the vessel control system (106) a steering command indicating that the hydrofoil wheel propulsion system (104) steers the marine vessel (102); and Based on the steering command, generate (608, 610) wheel control data (528) for the wheel controller (200) and hydrofoil control data (530) for the plurality of hydrofoil actuators (210A, 210B, 210C, 210D).

7. The device according to any one of the preceding claims 1 to 6, wherein, The wheel motor (202) is an electric motor, and the wheel controller (200) is a wheel driver configured to control the electrical energy sent to the electric motor (202).

8. The apparatus according to any one of the preceding claims 1 to 6, wherein, The wheel motor (202) is an engine (114), and the wheel controller (200) is configured to electronically control the engine.

9. A method for controlling the propulsion of a marine vessel, wherein the propulsion is at least partially achieved by a hydrofoil wheel propulsion system, the hydrofoil wheel propulsion system comprising: A rotatable wheel driven by a wheel motor and controlled by a wheel driver; A plurality of rotatable hydrofoils vertically attached to the wheel, each hydrofoil being driven by a hydrofoil motor and controlled by a hydrofoil driver; A wheel sensor for measuring the actual angular wheel position of the wheel; And a plurality of hydrofoil sensors for measuring the actual angular hydrofoil position of each hydrofoil, the method comprising: Receive (602) a wheel operating state from the wheel driver; Receive (604) a plurality of hydrofoil operating states from a plurality of hydrofoil drivers; Receive (606) a command from the vessel control system; In view of the wheel operating state, based on the command, generate (608) wheel control data for the wheel driver to control the hydrofoil pitch function of the hydrofoil wheel propulsion system; and Based on the described wheel operating state and the multiple hydrofoil operating states, and based on the command, generate (610) hydrofoil control data for the multiple hydrofoil actuators to further control the hydrofoil pitch function of the hydrofoil-wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil actuator is generated (612) using a hydrofoil feedforward model.

10. The method according to claim 9, further comprising: Receiving (620) the actual angular wheel position as part of the wheel operating state; Receiving (622) the actual wheel speed as part of the wheel operating state, or generating (630) the actual wheel speed based on multiple actual angular wheel positions; Receiving (624) the reference angular hydrofoil position of each hydrofoil as part of the hydrofoil operating state; Receiving (626) the reference hydrofoil speed of each hydrofoil as part of the hydrofoil operating state; Receiving (628) the reference hydrofoil acceleration of each hydrofoil as part of the hydrofoil operating state; And Using the feedforward model to generate (612) a reference torque for the hydrofoil control data for each hydrofoil actuator, the input of the feedforward model being the actual angular wheel position, the reference angular hydrofoil position, the actual wheel speed, the reference hydrofoil speed, and the reference hydrofoil acceleration, and the reference torque being modified by a position feedback torque describing the torque difference between the reference angular hydrofoil position and the actual angular hydrofoil position and by a speed feedback torque describing the torque difference between the reference hydrofoil speed and the actual hydrofoil speed.

11. The method according to claim 9, further comprising: Receiving (620) the actual angular wheel position as part of the wheel operating state; Receiving (632) the actual angular hydrofoil position of each hydrofoil as part of the hydrofoil operating state; Receiving (634) the actual hydrofoil speed as part of the hydrofoil operating state, or generating (636) the actual hydrofoil speed based on multiple actual angular hydrofoil positions; Receiving (638) the actual hydrofoil torque of each hydrofoil as part of the hydrofoil operating state; Receiving (640) one or more parameters from the hydrofoil pitch function; Based on the actual angular wheel position and the one or more parameters, generating (642, 644, 646) the reference hydrofoil speed, the reference angular hydrofoil position, and the reference hydrofoil acceleration of each hydrofoil; Based on the reference hydrofoil speed, the reference angular hydrofoil position, and the reference hydrofoil acceleration of each hydrofoil, generating (612) the reference torque of each hydrofoil; And Adjusting the reference torque of each hydrofoil based on the actual hydrofoil torque of each hydrofoil.

12. The method according to claim 11, further comprising: Adjusting (650) the reference hydrofoil speed of each hydrofoil based on the actual hydrofoil speed of each hydrofoil; Adjusting (652) the reference angular hydrofoil position of each hydrofoil based on the actual angular hydrofoil position of each hydrofoil; and Adjust the reference hydrofoil acceleration for each hydrofoil using an acceleration feed - forward model (654).

13. The method according to claim 9, further comprising: Apply (656) a second - order derivative to the hydrofoil pitch function to generate a torque compensation command; And Multiply (658) the torque compensation command by a torque compensation constant to generate a reference torque for the hydrofoil control data for each hydrofoil actuator.

14. The method according to claim 9, further comprising: Receive (660) a steering command from the ship control system indicating that the hydrofoil wheel propulsion system steers the marine vessel; And Based on the steering command, generate (608, 610) wheel control data for the wheel actuator and hydrofoil control data for the plurality of hydrofoil actuators.

15. A computer-readable medium comprising computer program code which, when executed by one or more processors, causes the execution of a method for controlling the propulsion of a marine vessel, the propulsion being at least partially implemented by a hydrofoil wheel propulsion system, the hydrofoil wheel propulsion system comprising: A rotatable wheel driven by a wheel motor and controlled by a wheel actuator; A plurality of rotatable hydrofoils vertically attached to the wheel, each hydrofoil being driven by a hydrofoil motor and controlled by a hydrofoil actuator; A wheel sensor for measuring the actual angular wheel position of the wheel; And a plurality of hydrofoil sensors for measuring the actual angular hydrofoil position of each hydrofoil, the method comprising: Receive (604) a plurality of hydrofoil operating states from a plurality of hydrofoil actuators; Receive (606) a command from the ship control system; In view of the wheel operating state, based on the command, generate (608) wheel control data for the wheel actuator to control the hydrofoil pitch function of the hydrofoil wheel propulsion system; and In view of the wheel operating state and the plurality of hydrofoil operating states, based on the command, generate (610) hydrofoil control data for the plurality of hydrofoil actuators to further control the hydrofoil pitch function of the hydrofoil wheel propulsion system, wherein a reference torque for the hydrofoil control data for each hydrofoil actuator is generated (612) using a hydrofoil feed - forward model.

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