Triple-Propulsion Vessel Steering for Oblique Motion Stability
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Solution Overview
Problem
Vessel steering systems with three or more propulsion devices experience unintentional turning when moving in an oblique direction due to the action line of the resultant propulsive forces deviating from the vessel's center of gravity.
Innovation Solution
A vessel steering system that includes a left propulsion device, a right propulsion device, a central propulsion device, and a controller, which sets the steering angles of these devices in opposite directions to ensure the resultant force acts through the center of gravity, preventing unintentional turning by correcting the steering angles when the joystick is tilted in an oblique direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the controller controls the propulsive forces of the left outboard motor, right outboard motor, and central outboard motor so that the resultant force acts in the lateral direction, then the vessel moves in the lateral direction, but when the joystick is tilted in the oblique direction, the action line of the resultant force deviates from the center of gravity, causing unintentional turning
Solution Approach 1:
The controller dynamically adjusts the steering angles of the left, right, and central outboard motors based on the joystick tilt direction. When an oblique tilt is detected, the controller calculates corrected steering angles that ensure the resultant force acts through the center of gravity, preventing unintentional turning while maintaining the desired oblique movement direction.
2Adaptability or versatility
If the controller sets the steering angle of the left outboard motor and right outboard motor in directions opposite to each other and sets the steering angle of the central outboard motor in the same direction as one of them, then the vessel can move laterally, but the action line of the resultant force deviates from the center of gravity when moving in oblique direction
Solution Approach 1:
The controller continuously monitors the joystick tilt direction and dynamically adjusts the steering angles of all three outboard motors accordingly. When oblique tilt is detected, the controller calculates corrected steering angles that compensate for the deviation of the resultant force from the center of gravity, providing real-time feedback control to eliminate unintentional turning.
Solution Approach 2:
The controller preemptively corrects the steering angles before the vessel can deviate from the intended path. By detecting the oblique tilt direction in advance and calculating the necessary steering angle corrections, the system prevents unintentional turning from occurring rather than correcting it after the fact.
Data Source
AI summary
In a vessel steering system including three or more propulsion devices, unintentional turning of a vessel is prevented when the vessel moves in an oblique direction. When a tilt direction of a joystick is an oblique direction between a longitudinal direction and a lateral direction, a controller is configured or programmed to correct at least one steering angle of a left propulsion device, a right propulsion device, and a central propulsion device so that a resultant force of propulsive forces of the left propulsion device, the right propulsion device, and the central propulsion device acts in a direction passing through a center of gravity of the vessel.