Abstract: A method for maintaining position and/or heading of a marine vessel in a body of water includes accepting a command to maintain the vessel at an initial selected position and/or heading, and utilizing position/heading feedback control to determine initial steering angles, gear positions, and engine speeds for the vessel's propulsion devices that cause the propulsion devices to produce thrust that counteracts a net external force and moment on the vessel and maintains the vessel at the initial selected position/heading. The method also includes propelling the vessel to a new selected position/heading, and accepting a command to maintain the vessel at the new selected position/heading. The method next includes utilizing information related to one of the position/heading feedback control and the propulsion devices' thrust to predict control parameters required to maintain the vessel at the new selected position/heading, and controlling the propulsion device according to the predicted control parameters.

Abstract: Systems and methods are for controlling movement of a marine vessel extending along a longitudinal axis between a bow and a stern and along a lateral axis between a port side and a starboard side, having a first propulsion device located closer to the stern than to the bow and steerable about a first steering axis perpendicular to the longitudinal and lateral axes, a second propulsion device located closer to the bow than to the stern and steerable about a second steering axis perpendicular to the longitudinal and lateral axes. An input device is configured to input a request for movement of the marine vessel. A control module is configured to control steering and thrust of the first and second propulsion devices to achieve a resultant movement of the marine vessel commensurate with the request for movement.

Abstract: Systems and methods for reducing steering pressures of marine propulsion device steering actuators are disclosed. First and second sensors sense first and second conditions of first and second steering actuators. A third sensor senses an operating characteristic of the marine vessel. A controller is in signal communication with the first, second, and third sensors. In response to the marine vessel travelling generally straight ahead, the controller determines a target toe angle between the first and second marine propulsion devices based on the operating characteristic. The controller commands the first and second steering actuators to position the first and second marine propulsion devices at the target toe angle. The controller thereafter gradually adapts the target toe angle between the first and second marine propulsion devices until the controller determines that an absolute difference between the first condition and the second condition reaches a calibrated value.

Abstract: A drive-by-wire control system for steering a propulsion device on a marine vessel includes a steering wheel that is manually rotatable and a steering actuator that causes the propulsion device to steer based upon rotation of the steering wheel. The system further includes a resistance device that applies a resistance force against rotation of the steering wheel, and a controller that controls the resistance device to vary the resistance force based on at least one sensed condition of the system.

Abstract: A method for controlling propulsion of two or more marine drives in a marine vessel includes detecting a fault condition relating to a first marine drive, and determining, at a first control module associated with the first marine drive, a power limit restriction for the first marine drive based on the fault condition. The method further includes communicating the power limit restriction with the first control module on a CAN bus of the marine vessel, and receiving the power limit restriction at a second control module associated with a second marine drive. The power output of the second marine drive is then reduced based on the power limit restriction for the first marine drive.

Abstract: A system and non-transient computer readable medium for executing a method for controlling position and speed of a marine vessel propelled by a marine propulsion device along a route including a plurality of waypoints are disclosed. An input source provides the plurality of waypoints to a controller, each individual waypoint being associated with a respective operator-selected desired speed of the marine propulsion device. A position determination device determines an actual geographical location of the vessel, and a speed sensor determines an actual speed of the marine propulsion device. The controller receives a given waypoint and its respective desired speed from the input source, the actual geographical location from the position determination device, and the actual speed from the speed sensor. The controller compares these values and outputs commands to propel the marine vessel to the given waypoint and concurrently to operate the marine propulsion device at the respective desired speed.

Abstract: A method for setting an engine speed of an internal combustion engine in a marine propulsion device of a marine propulsion system to an engine speed setpoint includes determining the engine speed setpoint based on an operator demand and predicting a position of a throttle valve that is needed to achieve the engine speed setpoint. The method also includes determining a feed forward signal that will move the throttle valve to the predicted position, and after moving the throttle valve to the predicted position, adjusting the engine speed with a feedback controller so as to obtain the engine speed setpoint. An operating state of the marine propulsion system is also determined. Depending on the operating state, the method may include determining limits on an authority of the feedback controller to adjust the engine speed and/or determining whether the operator demand should be modified prior to determining the engine speed setpoint.

Abstract: A method of controlling steering loads on a marine propulsion system of a marine vessel is provided. The marine vessel has at least two sets of marine drives, each set having at least an inner marine drive and an outer marine drive, and a steer-by-wire steering actuator is associated with each set of marine drives. The method includes determining a maximum required actuator pressure on each steer-by-wire steering actuator, and determining a pressure reduction amount based on the maximum required actuator pressure. A link toe angle has been determined based on the pressure reduction amount. A mechanical link connecting each inner marine drive to the respective outer marine drive is adjusted to achieve the link toe angle.

Abstract: In one embodiment, a system for steering a marine vessel includes a first marine drive having a first engine control module and a second marine drive having a second engine control module, where the first and second marine drives are connected by a mechanical link. A first steer-by-wire steering actuator is configured to rotate the first and second marine drives to steer the marine vessel, and a first actuator control module controls the first steer-by-wire steering actuator. The system operates such that the first actuator control module activates the first steer-by-wire steering actuator if either the first marine drive or the second marine drive is running.

Abstract: A method for setting an engine speed of an internal combustion engine in a marine propulsion device of a marine propulsion system to an engine speed setpoint includes determining the engine speed setpoint based on an operator demand and predicting a position of a throttle valve that is needed to achieve the engine speed setpoint. The method also includes determining a feed forward signal that will move the throttle valve to the predicted position, and after moving the throttle valve to the predicted position, adjusting the engine speed with a feedback controller so as to obtain the engine speed setpoint. An operating state of the marine propulsion system is also determined. Depending on the operating state, the method may include determining limits on an authority of the feedback controller to adjust the engine speed and/or determining whether the operator demand should be modified prior to determining the engine speed setpoint.

Abstract: A traction control system is for a marine vessel. The traction control system comprises a first internal combustion engine that causes rotation of a first propulsor to thereby propel the marine vessel in the water. A second internal combustion engine causes rotation of a second propulsor to thereby propel the marine vessel in water. A sensor senses a change in operation of the first internal combustion engine that is indicative of a loss of traction between the first propulsor and the water. A control circuit is programmed to temporarily slow rotation of the first propulsor when the sensor senses the change in operation of the first internal combustion engine, thereby allowing the first propulsor to regain traction with the water. When the control circuit slows rotation, the control circuit is further programmed to temporarily slow rotation of the second internal combustion engine, thereby preventing unintended movement of the marine vessel.

Abstract: A method for controlling movement of drive units on a marine vessel includes receiving an operator request for a desired steering angle. A first drive unit's steering angle is set equal to the desired steering angle. A midpoint of a wetted surface area of the vessel hull is determined and a pivot line extending laterally through the midpoint and perpendicular to the hull's longitudinal axis is defined. A first intersection point of the pivot line and a line extending horizontally through the first drive unit's steering axis and parallel to the longitudinal axis and a second intersection point of the pivot line and a line representing perpendicular application of hydrodynamic force on the first drive unit are determined. A second drive unit's steering angle is set such that a line representing perpendicular application of hydrodynamic force on the second drive unit intersects the pivot line at the second intersection point.

Abstract: Systems for maneuvering a marine vessel comprise an input device for requesting lateral movement of the marine vessel with respect to the longitudinal axis and a plurality of propulsion devices including at least a port propulsion device, a starboard propulsion device and an intermediate propulsion device disposed between the port and starboard propulsion devices. A control circuit controls orientation of the port and starboard propulsion devices inwardly towards a common point on the marine vessel, and upon a request for lateral movement of from the input device, operates one of the port and starboard propulsion devices in forward gear, operates the other of the port and starboard propulsion devices in reverse gear, and operates the intermediate propulsion device in reverse gear.

Abstract: A system for controlling movement of a plurality of drive units on a marine vessel has a control circuit communicatively connected to each drive unit. When the marine vessel is turning, the control circuit defines one of the drive units as an inner drive unit and another of the drive units as an outer drive unit. The control circuit calculates an inner drive unit steering angle and an outer drive unit steering angle and sends control signals to actuate the inner and outer drive units to the inner and outer drive unit steering angles, respectively, so as to cause each of the inner and outer drive units to incur substantially the same hydrodynamic load while the marine vessel is turning. An absolute value of the outer drive unit steering angle is less than an absolute value of the inner drive unit steering angle.

Abstract: Systems and methods are for maneuvering a marine vessel having a plurality of steerable propulsion devices. The plurality of propulsion devices are controlled to achieve a lateral movement by controlling the steering orientation of port and starboard propulsion devices so that forward thrusts provided by the port and starboard propulsion devices intersect at or forwardly of a center of turn of the marine vessel. One of the port and starboard propulsion devices is operated to provide a forward thrust and the other of the port and starboard propulsion devices is operated to provide a reverse thrust so that the lateral movement is achieved and a resultant yaw component is applied on the marine vessel. An intermediate propulsion device is controlled to apply an opposing yaw component on the marine vessel that counteracts the resultant yaw component.

Abstract: Systems and methods are for orienting a marine vessel having a marine propulsion device. A control circuit controls operation of the marine propulsion device. A user input device inputs to the control circuit a user-desired global position and a user-desired heading of the marine vessel. The control circuit calculates a position difference between the user-desired global position and an actual global position of the marine vessel and controls the marine propulsion device to minimize the position difference. The control circuit controls the marine propulsion device to orient an actual heading of the marine vessel towards the user-desired global position when the position difference is greater than a threshold. When the position difference is less than the threshold, the control circuit controls the marine propulsion device to minimize a difference between the actual heading and the user-desired heading while minimizing the position difference.

Abstract: Methods and systems are for controlling movement of at least one propulsion unit on a marine vessel. The method comprises plotting a first plurality of points representing a first surface of a first propulsion unit and plotting a second plurality of points representing a second surface. The method further comprises limiting movement of at least the first propulsion unit such that the first surface does not come within a predetermined distance of the second surface during said movement.

Abstract: Systems for maneuvering a marine vessel comprise an input device for requesting lateral movement of the marine vessel with respect to the longitudinal axis and a plurality of propulsion devices including at least a port propulsion device, a starboard propulsion device and an intermediate propulsion device disposed between the port and starboard propulsion devices. A control circuit controls orientation of the port and starboard propulsion devices inwardly towards a common point on the marine vessel, and upon a request for lateral movement of from the input device, operates one of the port and starboard propulsion devices in forward gear, operates the other of the port and starboard propulsion devices in reverse gear, and operates the intermediate propulsion device in reverse gear.

Abstract: Systems and methods for maneuvering a marine vessel limit interference by the hull of the vessel with reverse thrust. A marine propulsion device provides at least a reverse thrust with respect to the marine vessel. The propulsion device is vertically pivotable into a trim position wherein the hull does not impede or interfere with the reverse thrust. A control circuit controls the propulsion device to move into the trim position when the reverse thrust of the propulsion device is requested.

Abstract: Systems and methods for orienting a marine vessel enhance available thrust in a station keeping mode. A control device having a memory and a programmable circuit is programmed to control operation of a plurality of marine propulsion devices to maintain orientation of a marine vessel in a selected global position. The control device is programmed to calculate a direction of a resultant thrust vector associated with the plurality of marine propulsion devices that is necessary to maintain the vessel in the selected global position. The control device is programmed to control operation of the plurality of marine propulsion devices to change the actual heading of the marine vessel to align the actual heading with the thrust vector.