Marine Vessel Joystick Propulsion Control With Generic Dynamics Models
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Solution Overview
Problem
Current systems for controlling low-speed propulsion of marine vessels require labor-intensive vessel-specific calibration, leading to performance variations and high maintenance costs due to the need for hundreds of unique configurations, and introduce variability from human factors.
Innovation Solution
A model-based control system that correlates joystick commands with inertial velocity values, eliminating the need for vessel configuration-specific calibration by using a generic command model and vessel dynamics model to determine steering and engine commands, applicable across various vessel configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If vessel-specific calibration is performed for each marine vessel configuration, then control accuracy is improved, but device complexity and maintenance costs increase due to needing hundreds of unique configurations
Solution Approach 1:
The patent implements a universal control system that uses a single generic command model and vessel dynamics model to control multiple marine vessels with different configurations. Instead of creating hundreds of vessel-specific calibration configurations, the system uses one unified model that adapts to various vessel types, thereby reducing device complexity while maintaining control accuracy across the fleet.
Solution Approach 2:
The system changes the approach from storing numerous discrete calibration configurations to using continuous vessel dynamics models with adjustable parameters. By representing vessel characteristics through dynamic parameters rather than fixed calibration tables, the system achieves accurate control across different vessel configurations without requiring hundreds of unique configurations, thus reducing complexity while preserving precision.
2Measurement precision
If labor-intensive vessel-specific calibration is performed, then control accuracy is improved, but loss of time and productivity decrease due to extensive on-water testing requirements
Solution Approach 1:
The patent applies preliminary action by pre-developing a generic command model and vessel dynamics model that can be directly applied to control marine vessels without requiring extensive on-water testing for each vessel. The models are prepared in advance and can be configured for different vessel types through parameter adjustment rather than time-consuming calibration procedures, thereby maintaining control accuracy while significantly reducing the time lost to on-water testing.
Solution Approach 2:
Instead of performing labor-intensive calibration for each vessel, the system uses a standardized vessel dynamics model that can be replicated and adapted across multiple vessels. The generic command model serves as a template that can be copied and applied to different vessel configurations with minimal customization, eliminating the need for repeated on-water testing and calibration procedures while maintaining control accuracy.
3Measurement precision
If human operators perform calibration, then control accuracy is improved, but variability from human factors increases and reliability decreases
Solution Approach 1:
The patent implements self-service by using automated algorithms and computational models that perform the calibration function without human intervention. The vessel dynamics model and command model automatically determine the optimal control parameters based on vessel characteristics, eliminating human operators from the calibration process. This ensures consistent, reliable results across all vessels without the variability introduced by different human operators, while maintaining high control accuracy through sophisticated computational methods.
4Measurement precision
If extensive calibration and testing are performed, then control accuracy is improved, but ease of manufacture and deployment worsen due to high expertise requirements
Solution Approach 1:
The patent uses a standardized generic command model and vessel dynamics model that can be copied and deployed across multiple vessels without requiring extensive customization or expert intervention for each deployment. The models are designed to be universally applicable, allowing manufacturers to deploy the same control system software across different vessel types with minimal configuration, thereby improving ease of manufacture and deployment while maintaining control accuracy through the robustness of the underlying mathematical models.
Data Source
AI summary
A method for controlling low-speed propulsion of a marine vessel powered by a marine propulsion system having a plurality of propulsion devices includes receiving a signal indicating a position of a manually operable input device movable to indicate desired vessel movement within three degrees of freedom, and associating the position of the manually operable input device with a desired inertial velocity of the marine vessel. A steering position command and an engine command are then determined for each of the plurality of propulsion devices based on the desired inertial velocity and the propulsion system is controlled accordingly. An actual velocity of the marine vessel is measured and a difference between the desired inertial velocity and the actual velocity is determined, where the difference is used as feedback in subsequent steering position command and engine command determinations.