Control of a waterjet propelled vessel

Details Control of a waterjet propelled vessel Control of a waterjet propelled vessel

2004-12-01

2010-06-29

Olson, Lars A (Department: 3617)

Ships

Steering mechanism

Remote control steering excluding manual operation

C114S14400A, C701S021000

Reexamination Certificate

active

07743721

ABSTRACT:
A method for controlling a watercraft includes acquiring a desired heading of the watercraft, acquiring an actual heading of the watercraft at time T0, calculating a heading error by comparing the desired heading with the actual heading and determining a rate of change of the heading error. A P gain, I gain and D gain for use in maintaining the heading of the watercraft is determined and used to calculate factors related to heading error, cumulative heading error and rate of change of heading error. These factors are summed to form a control value for deflecting a nozzle of the watercraft to maintain a heading of the watercraft. Further embodiments include methods for calculating and correcting a heading of the watercraft, as well as methods for controlling roll out and sideways motion of the watercraft.

REFERENCES:
patent: 3604907 (1971-09-01), Wesner
patent: 3715571 (1973-02-01), Braddon
patent: 3825911 (1974-07-01), Burns
patent: 5509369 (1996-04-01), Ford et al.
patent: 5632217 (1997-05-01), Ford et al.
patent: 6230642 (2001-05-01), McKenney
patent: 6273771 (2001-08-01), Buckley

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