Abstract: An apparatus, method and computer program for controlling propulsion of marine vessel. The propulsion is implemented by a foil wheel propulsion system. The method includes: receiving a wheel operation status from a wheel drive; receiving a plurality of foil operation statuses from a plurality of foil drives; receiving a command from a vessel control system; generating wheel control data for the wheel drive to control a foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status; and generating foil control data for the plurality of the foil drives to further control the foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status and the plurality of foil operation statuses, wherein a reference torque of the foil control data for each foil drive is generated using a foil feedforward model.

Abstract: The arrangement includes at least one steering electric motor rotating the propulsion unit via a force transmission arrangement. The force transmission arrangement includes a differential including a first shaft connected to the steering electric motor, a second shaft connected to the propulsion unit, and a third shaft connected to a brake device. The third shaft is locked from rotation when a torque produced by an external force on the propulsion unit is below a threshold value, whereby power is distributed only from the steering electric motor to the propulsion unit or vice a versa. The third shaft is allowed to start rotating when the torque produced by the external force on the propulsion unit exceeds the threshold value, whereby power is distributed from the steering electric motor to the rotation of the propulsion unit and to the brake device or from the rotation of the propulsion unit to the steering electric motor and to the brake device.

Abstract: The arrangement includes at least one steering electric motor rotating the propulsion unit via a force transmission arrangement. The force transmission arrangement includes a differential including a first shaft connected to the steering electric motor, a second shaft connected to the propulsion unit, and a third shaft connected to a brake device. The third shaft is locked from rotation when a torque produced by an external force on the propulsion unit is below a threshold value, whereby power is distributed only from the steering electric motor to the propulsion unit or vice a versa. The third shaft is allowed to start rotating when the torque produced by the external force on the propulsion unit exceeds the threshold value, whereby power is distributed from the steering electric motor to the rotation of the propulsion unit and to the brake device or from the rotation of the propulsion unit to the steering electric motor and to the brake device.

Abstract: The propulsion unit comprises a strut having an upper portion with an upper end portion passing through a passage formed between a first outer bottom and a second inner bottom in a vessel. The upper end portion is rotatable supported with a slewing bearing and sealed with a slewing seal. An upper slewing seal prevents lubrication medium leakage from the slewing bearing, whereby access to the upper slewing seal is provided in a radial direction from the interior of the vessel or from the interior of the strut in order to be able to service the upper slewing seal. A lower slewing seal is positioned at a vertical distance below the upper slewing seal and prevents sea water from penetrating into the hull of the vessel, whereby access to the lower slewing seal is provided in a radial direction from the interior of the vessel or from the interior of the strut in order to be able to service the lower slewing seal.

Abstract: The propulsion unit comprises a strut having an upper portion with an upper end portion passing through a passage formed between a first outer bottom and a second inner bottom in a vessel. The upper end portion is rotatable supported with a slewing bearing and sealed with a slewing seal. An upper slewing seal prevents lubrication medium leakage from the slewing bearing, whereby access to the upper slewing seal is provided in a radial direction from the interior of the vessel or from the interior of the strut in order to be able to service the upper slewing seal. A lower slewing seal is positioned at a vertical distance below the upper slewing seal and prevents sea water from penetrating into the hull of the vessel, whereby access to the lower slewing seal is provided in a radial direction from the interior of the vessel or from the interior of the strut in order to be able to service the lower slewing seal.