System and method for controlling a marine vessel

Abstract

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

What is claimed is: 
     
         1 - 28 . (canceled) 
     
     
         29 . A method for controlling a marine vessel having steerable propulsors and trim deflectors, the steerable propulsors comprising first and second steerable propulsors, the trim deflectors comprising first and second trim deflectors, the method comprising:
 controlling at least one of the steerable propulsors and at least one of the trim deflectors to induce a desired amount of rolling force to the marine vessel when the marine vessel is implementing a turning maneuver.   
     
     
         30 . The method of  claim 29 , wherein the desired amount of rolling force is determined by any one or more of hull shape, weight distribution, desired turning radius or vessel speed. 
     
     
         31 . The method of  claim 29 , wherein, in response to controlling the at least one of the steerable propulsors and at least one of the trim deflectors, the marine vessel rolls in a direction of the turning maneuver. 
     
     
         32 . A system for controlling a marine vessel having steerable propulsors and trim deflectors, the steerable propulsors comprising first and second steerable propulsors, the trim deflectors comprising first and second trim deflectors, the system comprising:
 a processor configured to control at least one of the steerable propulsors and at least one of the trim deflectors to induce a desired amount of rolling force to the marine vessel when the marine vessel is implementing a turning maneuver.   
     
     
         33 . The system of  claim 32 , wherein the desired amount of rolling force is determined by any one or more of hull shape, weight distribution, desired turning radius or vessel speed. 
     
     
         34 . The system of  claim 32 , wherein, in response to controlling the at least one of the steerable propulsors and at least one of the trim deflectors, the marine vessel rolls in a direction of the turning maneuver. 
     
     
         35 . A method for controlling a marine vessel having first and second trim deflectors, comprising:
 generating at least a first actuator control signal and a second actuator control signal in response to a steering control signal;   coupling the first actuator control signal to the first trim deflector to control the first trim deflector and coupling the second actuator control signal to the second trim deflector to control the second trim deflector; and   inducing a net steering force to the marine vessel in response to the steering control signal by controlling at least one of the first and second trim deflectors to generate a hydrodynamic lifting force.   
     
     
         36 . The method of  claim 35 , wherein each of the first and second trim deflectors comprises a trim tab or an interceptor. 
     
     
         37 . The method of  claim 35 , wherein the steering control signal is produced in response to movement of a helm, in response to movement of a tiller, or in response to an autopilot controller. 
     
     
         38 . The method of  claim 35 , wherein the marine vessel further comprises a first steerable propulsor and a second steerable propulsor, and the net steering force is induced without movement of the first steerable propulsor and without movement of the second steerable propulsor. 
     
     
         39 . The method of  claim 38 , wherein each of the first and second steerable propulsors comprises a propeller or a waterjet with a steering nozzle. 
     
     
         40 . The method of  claim 38 , wherein each of the first and second steerable propulsors comprises an outboard motor, inboard/outboard drive, or a stern drive. 
     
     
         41 . The method of  claim 38 , further comprising inducing a net trimming force in a down direction to a stern of the marine vessel by controlling each of the first and second steerable propulsors. 
     
     
         42 . A system for controlling a marine vessel having first and second trim deflectors, the system comprising:
 a processor configured to receive a steering control signal and to induce a net steering force to the marine vessel in response to the steering control signal by controlling at least one of the first and second trim deflectors to generate a hydrodynamic lifting force.   
     
     
         43 . The system of  claim 42 , wherein each of the first and second trim deflectors comprises a trim tab or an interceptor. 
     
     
         44 . The system of  claim 42 , wherein the steering control signal is produced in response to movement of a helm, in response to movement of a tiller, or in response to an autopilot controller. 
     
     
         45 . The system of  claim 42 , wherein the marine vessel further comprises a first steerable propulsor and a second steerable propulsor, and the net steering force is induced without movement of the first steerable propulsor and without movement of the second steerable propulsor. 
     
     
         46 . The system of  claim 45 , wherein each of the first and second steerable propulsors comprises a propeller or a waterjet with a steering nozzle. 
     
     
         47 . The system of  claim 45 , wherein each of the first and second steerable propulsors comprises an outboard motor, inboard/outboard drive, or a stern drive. 
     
     
         48 . The system of  claim 45 , wherein the processor is further configured to induce a net trimming force in a down direction to a stern of the marine vessel by controlling each of the first and second steerable propulsors.