Marine Vessel Low-Speed Propulsion Control Without Vessel-Specific Calibration
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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 high costs and performance variations across different vessel configurations due to human factors and personal preferences.
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 vessel dynamics model to compute desired inertial velocities and generate steering and engine commands, applicable across various vessel configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If vessel-specific calibration is performed manually for each vessel configuration, then control accuracy for that specific vessel is improved, but the time and cost required for customization increases significantly
Solution Approach 1:
The patent implements a universal calibration approach where a single calibration dataset derived from a reference vessel can be applied to multiple different vessel configurations. The system determines transformation parameters that map the reference calibration data to the target vessel's specific geometry and propulsion characteristics, eliminating the need for separate manual calibration of each vessel while maintaining control accuracy.
Solution Approach 2:
The system creates a digital copy of the calibration process by using a reference vessel's calibration data and transforming it mathematically to match the target vessel's characteristics. Instead of physically recalibrating each vessel, the system copies and adapts the reference calibration through computational transformation based on geometric and propulsion parameters.
2Reliability
If manual calibration procedures are performed for each vessel, then control performance is optimized for that vessel, but expertise and labor costs increase
Solution Approach 1:
The patent replaces manual mechanical calibration procedures with an automated computational system. Instead of requiring experts to physically adjust and tune each vessel's control system, the system uses automated algorithms to calculate transformation parameters based on vessel geometry and propulsion data, substituting human expertise with computational processing.
Solution Approach 2:
The system enables self-service calibration by automatically determining transformation parameters without requiring external expert intervention. The calibration process is performed autonomously using readily available vessel specification data, allowing the system to self-configure for different vessel types without manual tuning sessions.
3Adaptability or versatility
If different calibration approaches are used for different vessel configurations, then each vessel achieves optimal control, but consistency across the fleet decreases
Solution Approach 1:
The system maintains performance consistency across the fleet by systematically changing only the necessary geometric and propulsion parameters when adapting the universal calibration to different vessel configurations. Rather than re-calibrating the entire system for each vessel, the method transforms the reference calibration using specific parameter adjustments related to vessel dimensions, propulsion device locations, and thrust characteristics.
Data Source
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AI summary
A method for controlling low-speed propulsion of a marine vessel (10) powered by a marine propulsion system (20) having a plurality of propulsion devices (12a, 12b) includes receiving a signal indicating a position of a manually operable input device (30) movable to indicate desired vessel movement within three degrees of freedom, and associating the position of the manually operable input device (30) with a desired inertial velocity of the marine vessel (10). A steering position command and an engine command are then determined for each of the plurality of propulsion devices (12a, 12b) based on the desired inertial velocity and the propulsion system (20) is controlled accordingly. An actual velocity of the marine vessel (10) 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.