WO2007129918A1 - Steering system for a marine vessel - Google Patents
Steering system for a marine vessel Download PDFInfo
- Publication number
- WO2007129918A1 WO2007129918A1 PCT/NZ2007/000103 NZ2007000103W WO2007129918A1 WO 2007129918 A1 WO2007129918 A1 WO 2007129918A1 NZ 2007000103 W NZ2007000103 W NZ 2007000103W WO 2007129918 A1 WO2007129918 A1 WO 2007129918A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- vessel
- control device
- waterjet
- turning
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
Definitions
- the present invention relates to a steering system for a waterjet propelled marine vessel. BACKGROUND TO THE INVENTION
- a waterjet drive unit for a marine vessel comprises a steering deflector or nozzle (herein a deflector) through which water is expelled to propel the vessel, and which may be moved from one side to the other to change the angle of the waterjet to cause the vessel to steer to port or starboard when underway.
- a vessel propelled by two or more waterjet units such as a catamaran with a waterjet unit in each hull, comprises a control system arranged to move the steering deflectors of both waterjet units.
- the steering deflectors are controlled by the helmsperson via a steering control device such as a helm wheel or a joystick which may be either pivoted from side to side or rotated to control the steering deflectors in different embodiments, or another form of steering control device.
- the present invention consists in of a steering system for a marine vessel comprising: two or more waterjet units for propelling the vessel, each having a steering deflector; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system arranged to operate the steering deflectors in accordance with movement of the steering control device to cause turning of the vessel and also to lower a reverse duct of an inside (to a turn) waterjet unit when a higher rate of turning of said vessel is commanded by the steering control device.
- control system is arranged to cause the inside reverse duct to lower to an increasing extent when an increasing rate of turning is commanded by the steering control device.
- control system is also arranged to alter the thrust generated by the inside and/or outside waterjet unit(s) when a higher rate of turning is commanded by the steering control device.
- control system is also arranged to increase the thrust generated by the inside waterjet unit when a higher rate of turning is commanded by the steering control device.
- control system is also arranged to increase the thrust generated by the outside waterjet unit when a higher rate of turn is commanded by the steering control device.
- control system is arranged to alter the thrust generated by the inside and/or outside waterjet unit(s) to a first extent when the steering control device is moved to command a first extent of turning and to a greater extent when the steering control device is moved to command a greater extent of turning.
- control system is arranged to cause the inside reverse duct to lower when the steering control device is moved to command a first extent of turn and to increase the thrust generated by the inside and/or outside waterjet unit(s) when the steering control device is moved to command a greater extent of turning.
- control system is arranged to lower the reverse duct to different extent for different forward speeds of the vessel, for an equivalent rate of turn.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel wherein the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector, for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system arranged to activate the steering deflectors of the waterjet units and alter the thrust generated by the inside and/or outside waterjet unit(s) in accordance with movement of the steering control device to cause turning of the vessel.
- control system is arranged to operate the steering deflectors with movement of the steering control device to cause turning of the vessel and to also alter the thrust generated by the inside and/or outside waterjet unit(s) when a higher rate of turning of the vessel is commanded.
- control system is arranged to alter the thrust generated by the inside and/or outside waterjet unit(s) with movement of the steering control device to cause turning of the vessel and to also operate the steering deflectors when a higher rate of turning of the vessel is commanded.
- control system is arranged to increase the thrust generated by the outside waterjet unit when a higher rate of turning is commanded by the steering control device.
- control system is arranged to decrease the thrust generated by the inside waterjet unit when a higher rate of turning is commanded by the steering control device.
- control system is arranged to increase the thrust generated by the outside waterjet unit and decrease the thrust generated by the inside waterjet unit when a higher rate of turning is commanded by the steering control device.
- control system is arranged to move the steering deflectors and alter the thrust generated by the inside and/or outside waterjet unit(s) to a first extent when the steering control device is moved to command a first extent of turning and to further move the steering deflectors and alter the thrust generated by the inside and/or outside waterjet unit(s) when the steering control device is moved to command a greater extent of the turning.
- control system is arranged to alter the thrust of the waterjet unit(s) to a first extent when the steering control device is moved to command a first extent of turn and to a greater extent when the steering control device is moved to command a greater extent of the turn.
- control system is arranged to alter the thrust of the waterjet unit(s) to a different extent for different forward speeds of the vessel.
- control system is also arranged to lower a reverse duct of an inside waterjet unit when a higher rate of turning is commanded by the steering control device.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector, for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system arranged to alter the thrust of the inside and/or outside waterjet units in accordance with movement of the steering control device to cause turning of the vessel.
- the control system is arranged to increase the thrust generated by the outside waterjet unit with movement of the steering control device to cause turning of the vessel.
- control system is arranged to decrease the thrust generated by the inside waterjet unit with movement of the steering control device to cause turning of the vessel.
- control system is arranged to increase the thrust generated by the outside waterjet unit and decrease the thrust generated by the inside waterjet unit with movement of the steering control device to cause turning of said vessel.
- control system is arranged to alter the thrust generated by the inside and/or outside waterjet unit(s) to a first extent when the steering control device is moved to command a first extent of turn and to further alter the thrust generated by the inside and/or outside waterjet unit(s) when the steering control device is moved to command a greater extent of the turning.
- control system is arranged to alter the thrust of the waterjet unit(s) to a different extent for different forward speeds of the vessel, for an equivalent rate of turn.
- control system is also arranged to lower a reverse duct of the inside waterjet unit when the steering control device is moved to command a greater extent of the turn.
- control system is also arranged operate the steering deflectors of the waterjet units when the steering control device is moved to command a greater extent of the turn.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector, for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system arranged to operate the steering deflectors of the waterjet units in accordance with movement of the steering control device to cause turning of the vessel and also to alter the thrust of the inside and/or outside waterjet units in accordance with movement of the steering control device.
- control system is arranged to decrease the thrust generated by the inside waterjet unit.
- control system is arranged to increase the thrust generated by the outside waterjet unit.
- control system is arranged to increase the thrust generated by the outside waterjet unit and decrease the thrust generated by the inside waterjet unit.
- control system is arranged to alter the thrust of the waterjet unit(s) to a different extent for different forward speeds of the vessel, for an equivalent rate of turn.
- control system is arranged to alter the thrust of the waterjet unit(s) to an increasing extent when an increasing rate of turn is commanded.
- control system is also arranged to lower a reverse duct of the inside waterjet unit when the steering control device is moved to command a greater extent of the turn.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system operable to alter the thrust of the waterjet units to lower a reverse duct of an inside (to a turn) waterjet unit in accordance with movement of the steering control device to cause turning of the vessel.
- control system is arranged to alter the thrust generated by the inside and/or outside waterjet unit(s) with movement of the steering control device to cause turning of the vessel and to also lower a reverse duct of an inside waterjet unit when a higher rate of turning is commanded.
- control system is arranged to lower a reverse duct of an inside waterjet unit with movement of the steering control device to cause turning of the vessel and to also alter the thrust generated by the inside and/or outside waterjet unit(s) when a higher rate of turning is commanded.
- control system is arranged to decrease the thrust generated by the inside waterjet unit.
- control system is arranged to increase the thrust generated by the outside waterjet unit.
- control system is arranged to increase the thrust generated by both the outside and inside waterjet units when the inside reverse duct is lowered when a higher rate of turning of said vessel is commanded by the steering control device.
- control system is arranged to alter the thrust and/or lower a reverse duct to different extents for different forward speeds of the vessel.
- control system is arranged to also operate the steering deflectors when a higher rate of turning of is commanded by the steering control device.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system operable to activate the steering deflectors and lower the reverse duct of an inside (to a turn) waterjet unit in accordance with movement of the steering control device to cause turning of the vessel when turning of the vessel is commanded by the steering control device.
- the control system is arranged lower the reverse duct of an inside waterjet unit with movement of the steering control device to cause turning of the vessel and to also activate the steering deflectors when a higher rate of turning is commanded.
- control system is arranged to cause the inside reverse duct to lower to a first extent when the steering control device is moved to command a first extent of turn and lower to a greater extent when the steering control device is moved to command a greater extent of the turn.
- control system is arranged to cause the inside reverse duct to lower to an increasing extent when an increasing rate of turning is commanded by the steering control device.
- control system is also arranged to increase the thrust generated by the inside and/or outside waterj et unit(s) when a higher rate of turning of said vessel is commanded by the steering control device.
- control system is arranged to lower the reverse duct to different extents for different forward speeds of the vessel, for an equivalent rate of turn.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering control device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the present invention consists in a steering system for a marine vessel comprising: two or more waterjet units each having a steering deflector for propelling the vessel; a manually moveable steering control device which is movable to steer the vessel to port or starboard; and an associated control system operable to lower said reverse duct of an inside (to a turn) waterjet unit in accordance with movement of the steering control device to cause turning of the vessel and also arranged to alter the thrust of the waterjet units when a higher rate of turning of said vessel is commanded by the steering control device.
- control system is arranged to cause the inside reverse duct to lower to a first extent when the steering control device is moved to command a first extent of turn and lower to a greater extent when the steering control device is moved to command a greater extent of the turn.
- control system is arranged to cause the inside reverse duct to lower to an increasing extent when an increasing rate of turning is commanded by the steering control device.
- control system is also arranged to activate the steering deflectors of the waterjet units when said steering control device is moved to command a greater extent of turning.
- control system is arranged to lower the reverse duct to different extents for different forward speeds of the vessel, for an equivalent rate of turn.
- the steering device is operable to steer the vessel at cruise speeds of the vessel.
- the steering control device is a helm wheel.
- the steering device is operable to steer the vessel at cruise speeds of the vessel and the vessel also comprises a separate manually movable control device operable to manoeuvre the vessel at slow speeds.
- the steering device is a helm wheel and the manoeuvre control device is movable in multiple axes.
- the manoeuvre control device is movable in multiple axes.
- vehicle is intended to include boats such as smaller pleasure runabouts and other boats, larger launches whether mono-hulls or multi-hulls, and larger ships. More generally, the control device of the invention may be suitable for any planing or displacement type vessels, regardless of their size, speed capabilities, and hull type.
- thrust refers to the thrust output of the propulsion unit(s) or engine(s) of the vessel before any deflection of the waterjet stream of by the steering deflector(s) and/or reverse duct(s); the thrust of one or both (or more) waterjet units is increased or decreased by an increase or decrease in the power output of the engine(s) driving that or those watejet unit(s), by increasing or decreasing the throttle opening for those engine(s) in the case of an inernal combustion engine for example.
- “cruise speeds” is intended to mean vessel speeds over 5 knots, more preferably vessel speeds over 8 knots, and most preferably vessel speeds of 10 knots or above.
- slow speeds is intended to mean vessel speeds of up to 5 knots
- Figure 1 shows a schematic of one example form of the steering system
- Figure 2 shows a turning manoeuvre using a steering system of one embodiment of the invention
- Figure 3 shows a sharper turning manoeuvre using the steering system of Figure 2;
- Figure 4 shows a sharper turning manoeuvre using another embodiment of the invention
- Figure 5 shows a sharper turning manoeuvre using a further embodiment of theinvention
- Figure 6 shows a turning manoeuvre using another embodiment of the invention
- Figure 7 shows a sharper turning manoeuvre using the steering system of Figure 6;
- Figure 8 shows a turning manoeuvre using another embodiment of the invention
- Figure 9 shows a sharper turning manoeuvre using the steering system of Figure 8.
- Figure 10 shows a sharper turning manoeuvre using another embodiment of the invention.
- Figure 11 shows a sharper turning manoeuvre using another embodiment of the invention.
- a marine vessel such as a catamaran for example, may have two waterjet units on each of the port and starboard sides respectively at the stern of the vessel. This type of vessel is referred to as a "quad waterjet vessel.”
- the system includes a control system 100, which may be in the form of a microprocessor, microcontroller, programmable logic controller (PLC) or the like.
- the control system 100 is programmed to receive and process data so as to appropriately steer the vessel, as will be described in detail later.
- the control system 100 may be a stand-alone or dedicated controller for steering or may be incorporated into existing vessel controllers.
- the control system 100 is a plug-in module that is connected to a network, such as a Controller Area Network (CAN), in the waterjet vessel.
- CAN Controller Area Network
- the control system 100 controls two waterjet units 102.
- the two waterjet units 102 are typically placed port and starboard at the stern of the vessel.
- the control system 100 may be adapted to steer at least one port waterjet unit and one starboard waterjet unit.
- the control system 100 may be adapted to steer two port waterjet units and one starboard waterjet unit if the vessel is turning to starboard for example. Whilst only two operational steering system configurations are detailed for vessels having more than two waterjet units, persons skilled in the art will appreciate that these are examples only and as such should not be considered to be in any way limiting.
- Each waterjet unit 102 includes a pumping unit 104 driven by an engine 106 through a driveshaft 108.
- Each waterjet unit also includes a steering deflector 110 and a reverse duct 112, of known form.
- each reverse duct 112 is of a type that features split passages to improve reverse thrust.
- the split-passage reverse duct 112 also affects the direction of the reverse thrust to port and starboard and thus the steering of the vessel, when the duct is lowered into the jet stream.
- the steering deflectors 110 pivot about generally vertical axes 114 while the reverse ducts 112 pivot about generally horizontal axes 116, independently of the steering deflectors.
- Activators for the engine throttle, steering deflector and reverse duct of each unit are controlled by control signals from the actuation modules 118 and 120 through control input ports 122, 124 and 126 respectively.
- the actuation modules 118 and 120 are in turn controlled by the control system 100.
- the control system 100 receives inputs from a manually moveable steering control device 128, such as a helm wheel, or other steering control device for steering the vessel at speeds which include cruise speeds, such as a cruise-steering joystick.
- a manually moveable steering control device 128, such as a helm wheel, or other steering control device for steering the vessel at speeds which include cruise speeds, such as a cruise-steering joystick.
- the vessel may also incorporate a separate control device operable to manoeuvre the vessel at slow speeds, such as a (second) multi-axis joystick for example, or other multi-axis manoeuvre control device.
- the steering control device 128 is used by a helmsperson to manually steer the vessel at least at cruise speeds.
- control system 100 is activated as a result of the helmsperson moving the steering control device 128. This results in the control system 100 generating all control signals to the activators to cause pivoting of the steering deflectors 110 and/or altering the position of the reverse ducts 112 and/or changing the thrust output generated by the vessel's engines, to improve the steering command(s).
- control system 100 may also be one or more supplementary control devices, such as throttle levers to control the thrust of the waterjet units, that also can provide inputs to the control system 100.
- the one or more supplementary control devices may form part of the steering control device 128 as mentioned above.
- FIG. 2 shows the operation of the manually moveable steering control device 128 and the control system 100 to turn a vessel 200 to port, as shown by arrow 202, in one embodiment of the invention.
- the helmsperson manually moves the steering control device 128 to port.
- the steering control device 128 is a helm wheel that has been turned or rotationally displaced from a neutral position, represented by the phantom arrow 128a, to port by a first range of motion or extent, ⁇ ⁇ t represented by arrow 128b.
- the rotational displacement of the helm wheel results in input signals, which represent the turning demanded by the helmsperson, being sent to the control system of the present invention.
- the control system then accordingly moves the steering deflectors 204 to port.
- the jet streams produced by the waterjet units are redirected as a result, which in turn produces force vectors 206.
- the combined effect of the force vectors 206 on the port and starboard of the vessel stern is a turning moment to port. This then results in the vessel 200 making the turn demanded by the helmsperson.
- FIG 3 shows the vessel 200 making a sharper turn 302 to port.
- the helmsperson moves the helm wheel 128 further to port.
- the helm wheel 128 has been turned or rotationally displaced from the neutral position, represented by the phantom arrow 128a, to port by a second range of motion or extent, ⁇ 2, represented by arrow 128c.
- the turning manoeuvre demanded in Figure 3 is much sharper, as reflected by the greater rotational displacement of ⁇ 2 of the helm wheel 128 as compared to ⁇ .
- the rotational displacement of the helm wheel results in input signals, which represent the turning demanded by the helmsperson, being sent to the control system.
- the control system recognises a demand for a sharper turn when the rotational displacement of the helm wheel, or a corresponding movement of other steering control devices, is greater than a first range of motion or extent, and not only moves the steering deflectors 206 to port, but also lowers the reverse duct 304 of an inside (to the turn) waterjet unit. That is, the reverse duct of the side to which the vessel should be turned is lowered
- the effect of also lowering the reverse duct 304 on the inside (to the turn) waterjet unit is that the jet stream produced by the inside waterjet unit is be partially or fully redirected, producing a force vector 306 in the astern direction.
- the amount of jet stream redirected, and thus the magnitude of the force vector 306, is dependent on the extent to which the reverse duct is lowered.
- Force vector 306 in combination with the force vectors 206 produced by the redirection of the jet stream by the steering deflectors 204 results in a greater turning moment being generated. This then causes the vessel 200 to make the sharp turn demanded by the helmsperson.
- the steering system is thus arranged such that the increasing movement of the steering control device to port or starboard, such as increasing the rotational displacement of a helm wheel or of a single axis joystick, from a neutral position, increases the rate of turn of the vessel.
- the steering control device 128 is moved to port or starboard over a first range of movement, the steering deflectors 110 of the waterjet units 102 move to cause a turning movement of the vessel 200 to port or starboard. This is shown in Figure 2.
- the control system 100 causes the inside reverse duct to be lowered so that the reverse duct impinges into the water flow from the inside waterjet and increases the turning moment on the vessel 200, sharpening the turn of the vessel 200. This is shown in Figure 3.
- control system 100 may be arranged to cause the inside reverse duct to: (i) lower to a first extent as the steering control device 128 is moved to a first extent to commence the turn; (ii) lower to a greater extent as the steering control device 128 is moved to a greater extent to sharpen the turn; and (iii) raise as the steering control device 128 is returned to a central position to complete the turn.
- control system 100 may be arranged to cause the inside reverse duct to lower only once a turn has commenced and the steering control device 128 is moved beyond a first extent, so that there is no lowering of the reverse duct as the steering control device 128 is turned to the first extent to commence the turn.
- the reverse duct lowers in accordance with the movement of the steering control device 128 to increase the rate of turn to meet the turn rate commanded by the steering control device 128.
- the reverse duct then raises as the steering control device 128 is returned to a centre point to complete the turn.
- the control system 100 may be programmed with either of the above forms, or alternatively with both of the above forms together with an input for a helmsperson to indicate which of the two forms should be applied.
- the extent and rate at which the reverse duct is lowered is preferably proportional to the forward speed of the vessel 200.
- the inside reverse duct may lower to a lesser extent at a higher forward speed of the vessel than at a lower forward speed to make an equivalent turn.
- the reverse duct may lower so as to impinge partially into the jet stream from the inside waterjet unit, or to a greater extent into the jet stream from the inside waterjet unit so that there is no net forward thrust from the inside waterjet unit during a part or all of the turn.
- the reverse duct may lower fully so that a reverse thrust is provided by the inside waterjet unit to maximally increase the rate of turn of the vessel 200, particularly at slower speeds, at least during part of a turn. This benefits multi-hulled vessels such as catamarans, which have a poor turning capability at planing speed.
- the steering system of the invention is arranged to generate a higher turning moment by operating the throttles of the waterjet units differentially such that an inside (to the turn) waterjet unit generates less thrust when compared to the outside (to the turn) waterjet unit.
- This embodiment is described in detail below with reference to Figure 4.
- Figure 4 shows that the helmsperson has displaced the helm wheel 128 to port.
- the control system recognises the displacement of the helm wheel 128 as a demand for a sharp turn. As before, the control system moves the steering deflectors to port.
- the control system also operates the throttles of the waterjet units such that the thrust generated by the inside (to the turn) waterjet unit is lower than the thrust generated by the outside (to the turn) waterjet unit, hi Figure 4, the thrust of the outside (to the turn) waterjet unit is increased, resulting in a force vector 406.
- the force vector 406 has a higher magnitude, represented by the longer arrow of force vector 406.
- control system may reduce the thrust of the inside (to the turn) waterjet unit and maintain the thrust of the outside (to the turn) waterjet unit, or reduce the thrust of the inside (to the turn) waterjet unit and increase the thrust of the outside (to the turn) waterjet unit.
- FIG. 5 shows, with arrow 502, the turn that is to be made by the vessel 200. Relative to the arrows 302 and 402, it is clear that the arrow 502 represents a much sharper turn.
- the helmsperson has rotationally displaced the helm wheel from the neutral position 128a by a third range of motion or extent q> 3 to a position 128d.
- the control system interprets this motion of the helm wheel as a demand for a very sharp turn andcauses a combination of using a reverse duct and manipulating the engine thrust to produce differential thrust to effect the sharp turn.
- control system lowers the reverse duct of the inside (to the turn) waterjet unit. Unlike the partial lowering of the reverse duct in Figure 3, indicated with broken lines, the reverse duct in this embodiment is completely lowered.
- control system increases the thrust generated by the inside (to the turn) waterjet unit.
- the combination of these operations results in a higher magnitude force being generated astern, shown as force vector 506, as compared to the force vector 306 of Figure 3.
- the thrust generated by the outside (to the turn) waterjet unit remains the same during the turning manoeuvre. If an even higher turning moment is desired, which may be commanded by a further range of motion of the helm wheel, the control system may increase the thrust of the outside (to the turn) waterjet unit.
- the steering deflectors of the waterjet units are moved to cause a turning movement to port or to starboard due to the movement of the steering control device from a neutral position to port or starboard.
- the steering system can be arranged such that when the steering control device 128 is moved to port or starboard over a first range of movement shown as arrow 602 in Figure 6, the position of the inside (to a turn) reverse duct 604 is lowered partially or fully to cause a turning movement of the vessel to port or starboard.
- Figure 6 shows the inside reverse duct 604 in the partially lowered position 604.
- the control system 100 causes the steering deflectors 706 of the waterjet units to move to increase the turning moment on the vessel 200 thereby sharpening the turn to port or starboard. This will result in a force vector 708 as shown in Figure 7.
- the control system 100 may be arranged to cause the inside reverse duct 704 to: (i) lower to a first extent as the steering control device 128 is moved to a first extent to commence the turn; (ii) lower to a greater extent as the steering control device 128 is moved to a greater extent to sharpen the turn; and (iii) raise as the steering control device 128 is returned to a central position to complete the turn.
- the inside reverse duct 704 may alternatively be arranged such that the control system 100 may be arranged to cause the inside reverse duct 704 to: (i) lower to a first extent as the steering control device 128 is moved to a first extent to commence the turn and remain in that position as the steering control device 128 is moved to a greater extent; and (ii) raise as the steering control device 128 is returned to a central position to complete the turn.
- the control system 100 may be arranged to cause the inside reverse duct 704 to be gradually lowered as the steering control device 128 is moved from a first extent through to a greater extent to effect a sharper turn of the vessel 200. The inside reverse duct 704 will be raised as the steering control device 128 is returned to a central position to complete the turn.
- the steering system of the invention is arranged to generate a turning moment by operating the engine throttles such that an outside (to a turn) waterjet unit generates more or increased ahead thrust compared to the inside(to the turn) waterjet unit.
- a greater steering control device 128 When a greater steering control device 128 is moved from a first extent to a greater extent to effect a sharper turn of the vessel 200, the control system 100 operates the engine throttles of the outside and/or inside waterjet units a second time to effect a sharper turn of the vessel.
- FIG. 8 Another embodiment is shown with reference to Figure 8 that shows the vessel 200 that is to make a turn to port shown as arrow 802.
- the helmsperson has displaced the helm wheel or steering control device 128 to port.
- the control system 100 recognises the displacement of the steering control device 128 as a demand for a turn.
- the control system 100 lowers the inside (to the turn) reverse duct 804 either partially or fully (shown partially lowered in Figure 8) and at the same time alters the thrust by operating the engine throttles to control the thrust output from the inside and/or outside waterjet units.
- the engine throttles of the inside and/or outside waterjet units can again be altered to effect the sharper turn shown as arrow 902 in Figure 9.
- control system 100 moves the steering deflectors 904 and at the same time operates the engine throttles such that the ahead thrust generated by the outside (to the turn) waterjet unit is greater than the astern thrust generated by the inside(to the turn) waterjet unit. This will result in a force vector 906 as shown in Figure 9.
- control system 100 may also increase the astern thrust to the inside (to the turn) waterjet unit, or maintain the ahead thrust to the outside waterjet unit and increase the thrust to the inside waterjet unit.
- the steering system can be arranged such that when the steering control device 128 is moved to port or starboard over a first range of movement, the position of the inside (to a turn) reverse duct 1004 is lowered partially or fully to cause a turning movement of the vessel 200 to port or starboard. This is already shown in Figure 6.
- the control system 100 causes the engine throttles to operate to alter the thrust output of the waterjet units to increase the turning moment on the vessel 200 thereby sharpening the turn to port or starboard shown as arrow 1002 in Figure 10. This will result in a force vector 1006.
- the steering system of the invention is arranged to generate a higher turning moment by moving the steering deflectors 1108 of the waterjet units when the steering control device 128 is moved to a second range of movement shown as arrow 1102 in Figure 11.
- the higher turning moment is generated by operating the engine throttles to alter the thrust output from the waterjet units in tandem with the movement of the steering deflectors 1108. This will generate a large force vector 1106 as shown in Figure 11.
- the control system 100 may be arranged to operate the marine vessel propulsion systems either in isolation or in combination with each other to cause a turning movement of the vessel 200 in response to movement of the steering control device 128. Whilst a number of the embodiments have been described in detail above, the table below includes further possible embodiments that can be implemented by the vessel control system 100.
- a combination of two propulsion systems can be activated to undertake a first extent of a turn and a third propulsion system activated when a higher rate (second extent) of turn is demanded.
- the three propulsion systems can be activated to undertake an entire turn (first and second extent).
- the positioning of the reverse ducts and/or thrust provided by the engine throttles may be varied during the turn for example, to provide the higher rate of turning.
- the forward momentum or speed of the vessel 200 does not change as the vessel 200 undertakes a turning manoeuvre (unless the helmsperson separately commands this by also operating the foreard or reverse thrust control device). If the reverse ducts 112 are lowered for example, under the control of the control system 100, a drag will be generated that will cause a small decrease in the vessel's forward speed.
- the control system 100 of the invention may automatically compensate for potential speed variations by increasing the thrust output by the vessel's waterjet units. This will cause the forward vessel speed to be maintained throughout the turning manoeuvre.
- the control system 100 can alternatively be overridden by the helmsperson by manually altering the engine throttle control(s).
- the reverse duct should be raised rather than lowered.
- the features described above for lowering the reverse ducts for sharpening a turn during a forward motion are similarly applicable in relation to raising the inside (to a turn) reverse duct for sharpening a turn during a reverse motion.
- the three ranges of motion may be, for instance, a first range of motion that results in normal steering using just the steering deflectors, a second range of motion that results in steering using the steering deflector as well as the reverse duct either partially or fully lowered that results in increased turning capability compared to the first range, and a third range of motion that results in steering using the steering deflector as well as the reverse duct either partially or fully lowered and in addition by adjusting the throttle(s) and thus the revolutions-per- minute (RPM) of the appropriate waterjet unit(s) and hence increasing the turning capability compared to the second range.
- RPM revolutions-per- minute
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Mechanical Control Devices (AREA)
- Toys (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07793944A EP2013078A4 (en) | 2006-05-05 | 2007-05-07 | Steering system for a marine vessel |
AU2007248988A AU2007248988A1 (en) | 2006-05-05 | 2007-05-07 | Steering system for a marine vessel |
US12/299,689 US20090301375A1 (en) | 2006-05-05 | 2007-05-07 | Steering System for a Marine Vessel |
NZ572562A NZ572562A (en) | 2006-05-05 | 2007-05-07 | Steering system for a marine vessel having two or more waterjets |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US79794106P | 2006-05-05 | 2006-05-05 | |
US60/797,941 | 2006-05-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007129918A1 true WO2007129918A1 (en) | 2007-11-15 |
Family
ID=38667960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NZ2007/000103 WO2007129918A1 (en) | 2006-05-05 | 2007-05-07 | Steering system for a marine vessel |
Country Status (5)
Country | Link |
---|---|
US (1) | US20090301375A1 (en) |
EP (1) | EP2013078A4 (en) |
AU (1) | AU2007248988A1 (en) |
NZ (1) | NZ572562A (en) |
WO (1) | WO2007129918A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11372440B2 (en) | 2020-04-23 | 2022-06-28 | Sure Grip Controls, Inc. | Single axis joystick |
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EP0778196A1 (en) * | 1995-12-08 | 1997-06-11 | Kawasaki Jukogyo Kabushiki Kaisha | Control device of a water-jet propulser for a watercraft |
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NZ513559A (en) * | 1999-11-09 | 2002-10-25 | Cwf Hamilton & Co Ltd | Directional control for twin jet powered water vessel |
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US6994046B2 (en) * | 2003-10-22 | 2006-02-07 | Yamaha Hatsudoki Kabushiki Kaisha | Marine vessel running controlling apparatus, marine vessel maneuvering supporting system and marine vessel each including the marine vessel running controlling apparatus, and marine vessel running controlling method |
US7476134B1 (en) * | 2003-10-29 | 2009-01-13 | Fell William P | Jet powered steering system for small boat outboard motors |
-
2007
- 2007-05-07 NZ NZ572562A patent/NZ572562A/en unknown
- 2007-05-07 AU AU2007248988A patent/AU2007248988A1/en not_active Abandoned
- 2007-05-07 US US12/299,689 patent/US20090301375A1/en not_active Abandoned
- 2007-05-07 EP EP07793944A patent/EP2013078A4/en not_active Withdrawn
- 2007-05-07 WO PCT/NZ2007/000103 patent/WO2007129918A1/en active Application Filing
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US5494464A (en) * | 1992-11-16 | 1996-02-27 | Yamaha Hatsudoki Kabushiki Kaisha | Control for jet powered watercraft |
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JPH09328096A (en) * | 1996-06-11 | 1997-12-22 | Kawasaki Heavy Ind Ltd | Method and device for steering ship water jet propulsion machinery |
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Title |
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See also references of EP2013078A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP2013078A1 (en) | 2009-01-14 |
EP2013078A4 (en) | 2012-03-14 |
NZ572562A (en) | 2012-03-30 |
US20090301375A1 (en) | 2009-12-10 |
AU2007248988A1 (en) | 2007-11-15 |
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