Integrated engine and rudder control

Abstract

Some embodiments relate to a control system for a marine vessel having a first propulsion system and a second propulsion system, the control system comprising: a processor configured to: receive a steering command and a thrust command; and control at least the first propulsion system and the second propulsion system based on the steering command and the thrust command.

1 .- 21 . (canceled) 
     
     
         22 . A control system for a marine vessel having a first propulsion system, a first rudder corresponding to the first propulsion system, a second propulsion system, and a second rudder corresponding to the second propulsion system, the control system comprising:
 a processor configured to:
 receive information indicating a state of forward or reverse movement of the marine vessel; 
 based on the information, map a thrust command for the marine vessel and a steering command for the marine vessel into control commands for the first propulsion system, the first rudder, the second propulsion system and the second rudder; and 
 control the first propulsion system, the first rudder, the second propulsion system and the second rudder using the control commands. 
   
     
     
         23 . The control system of  claim 22 , wherein when the information indicates forward movement of the marine vessel above a threshold, the processor steers the marine vessel using the first and second rudders and does not steer the marine vessel using the first and second propulsion systems. 
     
     
         24 . The control system of  claim 22 , wherein when the information indicates forward movement of the marine vessel below a threshold or neutral forward/reverse movement of the marine vessel, the processor steers the marine vessel using both the first and second propulsion systems and the first rudder. 
     
     
         25 . The control system of  claim 24 , wherein the processor controls the first propulsion system to have a forward thrust, the second propulsion system to have a reverse thrust, and deflects the first rudder behind the first propulsion system to turn the marine vessel in the direction of the steering command. 
     
     
         26 . The control system of  claim 25 , wherein the processor controls a second rudder behind the second propulsion system to have a deflection angle of approximately zero. 
     
     
         27 . The control system of  claim 22 , wherein when the information indicates reverse movement of the marine vessel of a sufficient magnitude, the processor steers the marine vessel using the first and second propulsion systems and does not steer the marine vessel using the first rudder or the second rudder. 
     
     
         28 .- 60 . (canceled) 
     
     
         61 . A control method for controlling a marine vessel having a first propulsion system, a first rudder corresponding to the first propulsion system, a second propulsion system, and a second rudder corresponding to the second propulsion system, the control method comprising:
 by a processor:
 receiving information indicating a state of forward or reverse movement of the marine vessel; 
 based on the information, mapping a thrust command for the marine vessel and a steering command for the marine vessel into control commands for the first propulsion system, the first rudder, the second propulsion system and the second rudder; and 
 controlling the first propulsion system, the first rudder, the second propulsion system and the second rudder using the control commands. 
   
     
     
         62 . The control method of  claim 61 , wherein when the information indicates forward movement of the marine vessel above a threshold, the processor steers the marine vessel using the first and second rudders and not to steer the marine vessel using the first and second propulsion systems. 
     
     
         63 . The control method of  claim 61 , wherein when the information indicates forward movement of the marine vessel below a threshold or neutral forward/reverse movement of the marine vessel, the processor steers the marine vessel using both the first and second propulsion systems and the first rudder. 
     
     
         64 . The control method of  claim 63 , wherein the processor controls the first propulsion system to have a forward thrust, the second propulsion system to have a reverse thrust, and deflects the first rudder behind the first propulsion system to turn the marine vessel in the direction of the steering command. 
     
     
         65 . The control method of  claim 64 , wherein when the processor controls the second propulsion system to have a reverse thrust, the processor controls a second rudder behind the second propulsion system to have a deflection angle of approximately zero. 
     
     
         66 . The control method of  claim 61 , wherein when the information indicates reverse movement of the marine vessel of a sufficient magnitude, the processor steers the marine vessel using the first and second propulsion systems and does not steer the marine vessel using the first rudder or the second rudder.