Vessel Motion Control With Command Loop Saturation and Autopilot Heading
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Solution Overview
Problem
Current marine stabilization systems lack a dynamic active control system that combines software-driven command looping and autopilot heading strategies to effectively manage pitch, roll, and yaw motions of marine vessels, particularly in real-time, and do not integrate fast deployment of water engagement devices with engine control for comprehensive stabilization.
Innovation Solution
A dynamic active control system (DACS) utilizing proprietary inertial sensing hardware and software to predict and counteract vessel motions by iteratively commanding the deployment of water engagement devices and adjusting engine trim, incorporating a command looping saturation strategy and autopilot heading with feedback loops for real-time stability and reduced drag.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional marine stabilization systems use proportional deployment of water engagement devices, then trim control is achieved, but real-time dynamic active control of pitch, roll, and yaw motions is insufficient
Solution Approach 1:
The system transitions from static proportional deployment to dynamic active control where water engagement devices are iteratively commanded based on real-time sensor feedback. The control system continuously adjusts device deployment in response to measured vessel motions, enabling adaptive stabilization across all three axes (pitch, roll, yaw) rather than fixed trim control.
Solution Approach 2:
The system implements feedback loops using inertial sensors to measure vessel motions and feed this information back to the control system. The control system processes this feedback and iteratively commands water engagement device deployment to counteract measured motions, creating a closed-loop control system that adapts to real-time conditions.
2Productivity
If water engagement devices are deployed faster to improve real-time control response, then dynamic active control performance increases, but device complexity and control system requirements increase
Solution Approach 1:
The system replaces complex mechanical control mechanisms with a software-driven control strategy. The iterative commanding system uses software algorithms to process sensor data and generate deployment commands, reducing mechanical complexity while enabling fast response. The control logic is implemented through software modules that can be updated and adjusted without physical modifications.
Solution Approach 2:
The control system is pre-configured with the logic and algorithms necessary for fast response. The iterative commanding framework is established in advance, allowing the system to immediately process sensor inputs and generate appropriate deployment commands without requiring complex real-time decision-making infrastructure.
3Reliability
If command looping saturation is implemented to maximize roll performance and reduce drag, then vessel stability improves, but control algorithm complexity increases
Solution Approach 1:
The command looping saturation technique modifies control parameters dynamically based on vessel state and performance objectives. The system adjusts deployment commands to maximize roll performance while reducing drag, using parameter optimization within the iterative control framework. This allows performance improvement through parameter tuning rather than algorithmic complexity.
4Measurement precision
If autopilot heading with feedback loop is added to control engine steering and rudder position, then heading control accuracy improves, but system integration complexity increases
Solution Approach 1:
The autopilot heading control is merged with the existing iterative commanding system for water engagement devices. The feedback loop measures vessel heading and integrates this information with roll and pitch measurements, coordinating control of both water engagement devices and engine steering/rudder through a unified control architecture. This reduces integration complexity compared to separate control systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The DACS provides simultaneous control of all three axes (pitch, roll, and yaw) with fast and precise deployment of water engagement devices, enhancing real-time stability and reducing drag, while optimizing engine performance and passenger comfort by automatically adjusting engine steering and trim.
Implementation Method 1
A water engagement device (WED) means a mechanical or electromechanical device configured to generate a variable amount of lift in a marine vessel by selective engagement of the device with or into the water flow
Implementation Method 2
A dynamic active control system (DACS) utilizing proprietary inertial sensing hardware and software to predict and counteract vessel motions
Implementation Method 3
The system disclosed herein makes it possible to calculate the engine steering angle change (or change in the rudder position) that would counter the torque applied about the yaw axis from a control moment gyroscopic stabilization system
Data Source
AI summary
A stability control system configured for total vessel pitch axis control by fast symmetric deployment of devices, coupled with engine trim adjustments and total roll and heading control by differentially deploying devices to counter rolling motions while simultaneously adjusting engine steering position to counter the steering moment associated with device delta position. The system includes a software control strategy comprising (1) a command looping saturation strategy to reduce drag and/or maximize roll performance and provide real-time ride stability to deliver a consistent device delta position even when one or more devices is at their minimum possible bias; and (2) an autopilot heading strategy comprising a feedback loop with means of actuation provided by the engine steering/rudder position and at least one pair of devices capable of producing a yaw moment.