Abstract: A method and system for controlling a position of a marine vessel near an object are disclosed. A location sensor determines a location of the marine vessel, and a speed sensor determines a speed of the marine vessel. A control module is in signal communication with the location sensor and the speed sensor. A marine propulsion system is in signal communication with the control module. The control module determines if the marine vessel is within a predetermined range of the object based on the marine vessel's location. In response to determining that the marine vessel is within the predetermined range of the object, the control module controls the propulsion system to produce at least one of a braking linear thrust and a braking moment to counter current movement of the marine vessel.

Abstract: A motor control system is provided that includes a communication gateway that facilitates connection of components, such as a motor starter, an operator interface, and a terminal block, through a digital communication link. The communication gateway includes control logic designed to discover interface and operational components connected to the digital communication link upon start-up of the motor control system. The control logic may then set up an operational profile for the motor control system based on the discovered components. For example, the control logic may retrieve and load an operational profile that corresponds to the set of discovered components from a storage of the communication gateway. The operational profile can then be used during operation of the motor control system to govern the functionality of the motor control system.

Abstract: A system may include a delta-sigma analog-to-digital converter and a digital compression circuit. The delta-sigma analog-to-digital converter may include a loop filter having a loop filter input configured to receive an input signal and generate an intermediate signal responsive to the input signal, a multi-bit quantizer configured to quantize the intermediate signal into an uncompressed digital output signal, and a feedback digital-to-analog converter having a feedback output configured to generate a feedback output signal responsive to the uncompressed digital output signal in order to combine the input signal and the feedback output signal at the loop filter input. The digital compression circuit may be configured to receive the uncompressed digital output signal and compress the uncompressed digital output signal into a compressed digital output signal having fewer quantization levels than that of the uncompressed digital output signal.

Abstract: A method for determining a heading value of a marine vessel includes determining a first estimate of a direction of the marine vessel based on information from a first source and determining a second estimate of a direction of the marine vessel based on information from a second source. The method includes inputting the first estimate and the second estimate to a control circuit, which scales each of the first estimate and the second estimate and adds the scaled estimates together so as to determine the heading value. A system for determining a heading value of a marine vessel is also disclosed.

Abstract: An electric steering apparatus for a vessel propulsion apparatus includes a steering motor, a lock clutch, and a rotation stopper mechanism. The steering motor generates a driving force to turn the steering shaft joined to an outboard motor. The lock clutch transmits a driving force from an input shaft to an output shaft when a forward input to transmit a driving force from the steering motor is generated, and shuts off the driving force transmission from the output shaft to the input shaft when a reverse input to transmit a driving force from the steering shaft is generated. The rotation stopper mechanism is configured to switch between a lock state in which the rotation stopper mechanism restricts rotation of the casing and a release state in which the rotation stopper mechanism releases the rotation restriction of the casing.

Abstract: The present invention provides a method of controlling the position of a spread moored marine vessel (1). In particular, the method of the present invention substantially maintains the position of a spread moored vessel (1) in, or on the boundary of a target area (2) using thruster assistance. This is done by monitoring the position of the vessel and when the vessel (1) is positioned outside of the target area (2) applying a position correcting thrust (7) to the vessel (1) in the direction of an aim position located on the boundary of the target area (2) and when the vessel (1) is positioned within the target area (2) reducing the position correcting thrust (7) applied to the vessel (1) or maintaining the position correcting thrust (7) applied to the vessel (1) at zero. The present invention may also apply a damping thrust (7) to the vessel (1) in order to damp the positional variation of the vessel (1).

Abstract: In one example, a hybrid marine propulsion system includes a marine propulsor that propels a marine vessel; an internal combustion engine that selectively powers the marine propulsor; an electric motor that selectively powers the marine propulsor; a controller that controls operation of the internal combustion engine and the electric motor according to a plurality of modes including an engine mode wherein the engine alone powers the marine propulsor and a boost mode wherein the engine and the electric motor together power the marine propulsor; and a user input device that inputs a user-initiated command to the controller to thereby change control from the engine mode to the boost mode. Upon input of the user-initiated command, the controller can maintain an existing output of the internal combustion engine such that the power provided by the electric motor is added to the power already being provided by the internal combustion engine.

Abstract: System for detection and depiction of objects in the path of marine vessels and for warning about objects that may constitute a risk to the navigational safety. The system includes a sweeping unit for illumination of objects within the field of view of the system, including a light source which emits a beam within the field of view of the system, an optical sensor and pulse processing unit including optical detectors for monitoring of the beam output power and generation of a start pulse for measurement of distance, for detection/reception of radiant energy reflected from objects, including measurement of distance to the reflecting object(s) based on the time delay between emitted and reflected light, including energy and peak effect of the pulses.

Abstract: An electric motor and a control unit are juxtaposed in a speed reduction gear box. A terminal block is provided at an outer circumference of a flange proximate to a control unit of the electric motor. Terminal block surfaces of the terminal block are provided so that a plane direction faces a direction vertical to a shaft line of the electric motor. A motor side connecting terminal is held on the terminal block surface. The unit side connecting terminals provided at a position proximate to the electric motor of the control unit are arranged so as to overlap with the motor side connecting terminal on the terminal block surface to couple by a coupling portion (fixing screw).

Abstract: An object of the present invention is to provide an automatic steering control apparatus, including an autopilot, which enables a ship to turn around a desired fixed point as a turning center with a desired turning radius without being affected by an extraneous factor, such as a tidal current or the like. To achieve the object, a center position, a turning radius and a turning direction for turning are initially designated by the operator, a tangent to a turning circle at an intersection of a straight line from the turning center to a position of the ship and the turning circle, and a course of the ship is controlled to approach the tangent.

Abstract: A hazard assessment and strategy formulation system and method for a vessel may comprise a hazard assessment element receiving alarms and/or data for assessing the type and severity of a hazard, a plurality of models for modeling different hazards, and a strategy formulation element for formulating a strategy of tasks for responding to the type and severity of hazard represented by the hazard assessment, wherein the strategy formulation element and one or ones of the plurality of models are in communication. Tasks may be communicated for implementation, for display or for implementation and display.

Abstract: A control apparatus controls a marine vessel propulsion system which is equipped with a propeller system to generate a propulsive force and a steering mechanism to determine a steering angle of the propeller system. The control apparatus includes a target propulsive force setting unit arranged to set a target propulsive force, and a propeller system control unit arranged to control an output of the propeller system such that the output is lower than the target propulsive force while the steering angle is being changed.

Abstract: A method and system for indicating a status of a load of a sub-system in a marine vehicle where the load is controlled by a switch provided on a steering wheel of the marine vehicle.

Abstract: A safety circuit for providing protection against failures that impact safety of an inverter circuit driving a Permanent Magnet Synchronous Motor (PMSM) including high and low side switches connected in a bridge and driven by a gate driver circuit during operation of the PMSM in a field weakening mode, the gate driver circuit including stages for driving the high and low side switches, the safety circuit comprising a main power supply and a back-up power supply for supplying voltage to the gate driver circuit driving the switches of the bridge of the inverter circuit, wherein if the main power supply fails to deliver adequate power to the gate driver circuit, the back-up power supply provides power to the gate driver circuit to allow the gate driver circuit to turn ON the low side switches and turn OFF the high side switches.

Abstract: A trolling motor control system includes plurality of modules that are connected to a communication bus to transmit and receive data used in controlling operation of a trolling motor. Based upon data transmitted over the bus, trolling motor speed, steering, and trim can be controlled. The modules can include motor controller modules, foot pedal modules, compass and GPS modules, RF modules for wireless control, battery metering modules, diagnostic modules, accessory device driver modules, power trim controller modules, and power steering controller modules.

Abstract: A directional control system for a marine vessel comprising a steering mechanism movable between two extreme opposite positions and capable of altering the direction of the marine vessel; an actuator for moving the steering mechanism between the two extreme opposite stop positions; a directional control station comprising a control element movable between two opposite positions to set a directional steering; and an electrical transmission system transmitting to the actuator the movement stroke of the control element or the position of the control element in the total stroke between the two opposite stop positions. The electrical transmission system transforms the movement stroke of the control element, or the position of the control element, into an actuation signal for the actuator according to a function univocally correlated with the position of the steering mechanism, thereby causing the steering mechanism to assume a steering position that directly corresponds to the actuation signal.

Abstract: A rudder control system having adjustable rudder drive turn off and “turn on,” and component wear monitoring. The rudder drive “turn off” being adjusted in accordance with the rudder stop position relative to the rudder order stop position, thereby improving position accuracy. Frequency of system “turn on” is compared to an acceptable “turn on” frequency for solenoid operation. Should the “turn on” frequency exceed the acceptable “turn on” frequency, the rudder angle at which “turn on” is implemented is adjusted to protect solenoids in the system from burnout. The rate of change of the rudder repeatback signal is monitored. A slow rate of change providing an indication of some component problem.

Abstract: A trolling motor control system includes plurality of modules that are connected to a communication bus to transmit and receive data used in controlling operation of a trolling motor. Based upon data transmitted over the bus, trolling motor speed, steering, and trim can be controlled. The modules can include motor controller modules, foot pedal modules, compass and GPS modules, RF modules for wireless control, battery metering modules, diagnostic modules, accessory device driver modules, power trim controller modules, and power steering controller modules.

Abstract: A control system of the invention for regulating a quantity to be controlled based on a deviation of the controlled quantity from a target value thereof and control parameters includes a behavior feature value calculator, a basic state judgment data calculator and a control parameter setter. The behavior feature value calculator detects the period or frequency of behaviors of a specific kind performed by a subject to be controlled. The basic state judgment data calculator calculates the amount of variations in the aforementioned period or frequency. The control parameter setter updates the value of at least one of the control parameters based on the amount of the aforementioned variations.

Abstract: An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caused by waves, tidal current, etc.

Abstract: A component navigational system comprising a video interface unit and multiple purpose-built printed circuit boards that are presented in a card cage unit. A number of the printed circuit boards will be further connected to input sensors for measuring various parameters while other printed circuit boards will be connected to specific output devices. The individual units are comprised of computer and/or electronic and/or electro/mechanical devices. The video interface unit provides single point access to all navigational data as well as providing a user interface for the system. The card-cage unit has multiple bus structures with a plurality of sockets for connection to a power supply, a central processing unit and the purpose built printed circuit boards. The purpose-built printed circuit boards and the central processing unit will communicate bi-directionally by means of a parallel signal bus.

Abstract: An arrangement and method for parallel alignment of propeller shafts in a first and a second underwater housing arranged on the hull of a vessel, which underwater housings are arranged to rotate around an axis of rotation which is angled in relation to the propeller shafts arranged in each underwater housing, which arrangement includes a servo motor arranged for each underwater housing, which servo motor is arranged to rotate said underwater housing. A position sensor arranged for each servo motor, which position sensor is arranged to detect an angular position of the underwater housing. A control unit in which a reference angular position of the underwater housing is arranged to be stored during a calibration of the position of the underwater housing; and a calibrator of the position of the underwater housings by storing output signals from the position sensors in the control unit during a parallel alignment of propeller shafts in two underwater housings arranged on the hull of a vessel.

Abstract: A method is for controlling a multi-phase electrical ship propulsion motor that is supplied with electric energy via a power converter. The ship propulsion motor is preferably a permanently excited motor with at least three windings. The phase currents flowing in the windings are controlled via the power converter to minimize the body noise emitted by the electrical ship propulsion motor.

Abstract: A DC motor having a motor housing and a motor controller housed within the motor housing. In a preferred embodiment the heat producing components of the motor controller are in thermal communication with the housing such that the majority of the heat produced by such components will be readily conducted to the environment in which the motor is operating. When incorporated into a trolling motor, the motor housing of the present invention will be submerged so that controller produced heat will be dissipated into the water in which the trolling motor is operated.

Abstract: The present system is a system for controlling a trolling motor in a fishing boat. The system comprises a transmitting unit and a receiving unit. The transmitting unit includes a direction sensor, a selection switch, and a transmitter. The direction sensor automatically senses the direction to which the user desires to steer the fishing boat when the user points the direction sensor in that direction. The user then uses the selection switch, and by “clicking” the switch once the transmitter sends a signal with the direction information to the receiving unit. The receiving unit then receives the signal containing the direction information, and affects the trolling motor in such a way that it steers the fishing boat in the desired direction.

Abstract: A directional control system for a land, water or airborne vehicle is provided by thrust generated by a selectively actuatable motor coupled to a propeller to produce thrust laterally and cause rotation of the vehicle about its vertical axis. Such thrust, coupled with forward motion of the vehicle will provide directional control left or right, depending upon the direction of rotation of the thrust producing propeller. Controls for operation of the motor driving the thrust producing propeller may be effected by a conventional radio control transmitter and receiver.

Abstract: A trolling motor having current based power management including: an electric motor; a motor controller having an output for providing voltage to the motor; and a current sensor for measuring the electrical current flowing through the motor. Upon determining that the trolling motor has been operating above its continuous duty limit for a predetermined period of time, the motor controller begins reducing the voltage output to the motor until reaching an acceptable output voltage. In another embodiment, the controller is operated in three distinct modes with three distinct sets of operating parameter, namely: a normal mode wherein the output is set to a commanded level; a current limit mode wherein the output is set to a safe, predetermined level; and a transitional mode wherein the output is incrementally changed from the predetermined level to the commanded level.

Abstract: A trolling motor foot control for use with a trolling motor is disclosed. The trolling motor foot control includes a pad adapted to receive an operator's foot, a first operating interface coupled to the pad and adapted to be coupled to the trolling motor and a second operator interface coupled to the pad and adapted to be coupled to the trolling motor. The first operator interface is configured to adjust a speed of the trolling motor at a first rate in response to input from the operator's foot. The second operator interface is configured to adjust the speed of the trolling motor at a second smaller rate in response to input from the operator's foot.

Abstract: A circuit and apparatus for magnetically sensing fluid flow through a conduit. The circuit includes a sensor and a sensor magnet for biasing the sensor in an on condition. A second magnet indicative of the relative position of a conduit valve substantially neutralizes the sensor magnet when the valve is closed to prevent fluid flow, and does not substantially neutralize the sensor magnet when the valve is open to permit fluid flow. The sensor can be a Hall effect sensor, and the sensing of fluid flow causes an indication current to flow. Circuitry is provided to apply a voltage to a load in response to the indication current.

Abstract: A steering system for vehicles or ships is provided, with a steering handwheel and a steering element with no mechanical linkage line therebetween, with a steering handwheel sensor device, a steering element sensor device and a control arrangement which, in dependence on the output signals of the sensor devices, operates an electromechanical transducer, on the output side of which the steering element is arranged. It is desirable to increase the reliability of such a steering system For that purpose, the control arrangement comprises at least two independent control units, and a fault-monitoring device is provided which precludes a defective control unit from influencing the steering element.

Abstract: An apparatus and method in which a vehicle is guided along a path defined by a centerline and left and right boundaries parallel to and spaced laterally on opposite sides thereof and in which a passenger in the vehicle can steer it for lateral movement between the boundaries. The method and apparatus utilize an electrical conductor to define the center of the pathway and a sensor for sensing the position of the vehicle relative to the electrical conductor. Based on a comparison of the position of the vehicle and the steering command received from the passenger, as well as the steer angle position of the vehicle, the vehicle is confined to a predetermined envelope, while permitting the passenger to steer the vehicle within the envelope.

Abstract: A real-time ship steering system provides steering of a survey ship along a rescribed thumb line track in accordance with a received point location on the thumb line and a received heading of the rhumb line. The system of the present invention requires an integrated navigation system, a track-keeping interface, and a ship autopilot to steer a ship. The computer of the navigation system integrates position data from continuous fixed radio and satellite positioning systems, inertial navigation systems, and dead reckon aids to develop the best present position. At prescribed equally spaced times, the best present position is used to compute the off-track distance of the ship. The off-track distance is used to develop proportional and integral heading corrections, which are applied to the autopilot by way of the track-keeping interface. The autopilot accepts the correction signal as a bias to the desired ground track heading, causing the ship to be steered toward the desired track.

Abstract: A remote control system is provided for transmitting control movement from a remote control unit to a controlled element which includes a throttle or transmission control lever on a marine propulsion unit. An operator is associated with the remote control unit and is movable between a plurality of positions. The remote control system further includes a pair of detectors, one in proximity to the remote control unit for transmitting an electrical signal to a controlling unit indicative of the detected position of the operator, and the other positioned in proximity to the controlled element for transmitting an electrical signal to the controlling unit indicative of the detected position of the controlled element.

Abstract: A system (1) responds to inputs (2) in parallel with a state estimator (4). The controller (6) provides the inputs (2) in response to ordered state inputs (14) and state estimator inputs. An external disturbance vector (f) affects the system (1) so that the observed values of the state variables are not the same as the estimated values. The estimated and measured values are compared (8) to give an error signal (9). The error values are fed to an Ordered State Corrector (11) which computes the error that the order state variable would have in the steady and applies it in the opposite sense to increment the input ordered state (14). If more than one state variable is to be corrected, the correction is applied directly to the control inputs using Multi-State Correction, in which the steady state errors are used to find the control inputs which would cause the errors and then a correction is applied to the control inputs.

Abstract: A remote, electrical steering system for marine vehicles including an electrical motor operable by a control and power circuit to rotate a drive screw having a screw connection to a nut in a drive tube for moving the drive tube in translation to cause steering movement of a motor-rudder with the control circuit sensing various fault conditions for placing the electrical motor in a brake condition to inhibit inadvertent steering and with the screw and nut connection resisting backlash from the motor-rudder to inhibit inadvertent steering and isolate the electrical motor and associated gearing from backlash loads.

Abstract: An autopilot system for a vessel such as a boat receives a pre-set heading direction set by e.g. the user and also receives the apparent orientation (heading) from a heading sensor. The difference between the pre-set heading direction and the actual heading is then determined and a correction signal is generated in dependence on that difference, which correction signal is then used to control the orientation of the vessel by e.g. generating a rudder correction signal which varies the position of the rudder. In the present invention, the correction signal is further dependent on the difference between the actual heading and a reference direction such as magnetic North or South. In this way errors due to differences between the apparent orientation as detected by the heading sensor and the actual orientation of the vessel may be corrected.

Abstract: An autopilot system for a vessel such as a boat has an autopilot unit connected via a drive to the rudder or other direction determining means of the vessel. When the autopilot unit is operating normally, direction information from e.g. a heading sensor is processed by the autopilot unit and the drive is controlled by the autopilot unit to determine the appropriate position of the rudder. The rudder is also linked to a steering wheel or other manual steering arrangement. When the steering wheel is moved during normal operation of the autopilot unit, this causes an interference with the control of the rudder by the drive and, if this interference has sufficient magnitude and duration, this triggers override of the autopilot unit, returning the vessel to manual control via the steering wheel. The override may alternatively be triggered by detection of rudder movement by a sensor.

Abstract: A remote, electrical steering system for marine vehicles including an electrical motor operable by a control and power circuit to rotate a drive screw having a screw connection to a nut in a drive tube for moving the drive tube in translation to cause steering movement of a motor/rudder with the control circuit sensing various fault conditions for placing the electrical motor in a brake condition to inhibit inadvertent steering and with the screw and nut connection resisting backlash from the motor/rudder to inhibit inadvertent steering and isolate the electrical motor and associated gearing from backlash loads.

Abstract: A speed and direction indicator for ships having at least one rudder propeller, or pump jet, and preferably several such devices for determining the direction of the ship and its speed in the selected direction. An optical display is provided in the area occupied by the ship operator, on which display are shown the angle which is formed between the direction of force and a reference direction, and the strength of the thrust, independently of the operating state of the rudder propeller(s) or the pump jet(s).

Abstract: A trolling motor with heading lock coupled to the trolling motor and producing a thrust to pull a watercraft is disclosed. The system contains a bow-mounted motor and a steering motor connected to the bow-mounted motor. The outputs of a heading detector circuit and desired heading circuit are compared by a steering control circuit and used to generate input signals to the steering motor.

Abstract: A marine autopilot having adaptive gain control. The autopilot operates under a proportional plus derivative (PD) control law during course change operation (i.e. when the difference between a desired course and the actual vessel heading is greater than a predetermined value) and a proportional plus integral plus derivative (PID) control law during course keeping operation (i.e. when the difference between the desired course and the actual heading is less than the predetermined value). A gain value associated with the derivative term of the PID control law is adaptively controlled as a function of the roll frequency of the vessel. More particularly, since the damping provided by the derivative term is ineffectual in maintaining the desired course when the vessel is heading into the seas (i.e. when the roll frequency is greater than a predetermined value), the derivative term is nulled in such conditions.

Abstract: An adjusting device embodied in a remote control system which adjusts the output potential characteristics of one or more of the system's detector's relative to their associated inputs and/or relative to each other to improve the motion transmissibility of cables in the system. The system includes a movable operator and a first detector which detects the position of the operator through a first transmitter that interconnects the operator and first detector. A controller element, responsive to movement of the operator, is connected by way of a second transmitter to a second detector which detects the position of the second transmitter and hence, the controlled element. The connection point of the first transmitter to the first detector may be selectively adjusted to vary the angular movement of the first detector relative to a given input produced on the first transmitter by the operator.

Abstract: A device for controlling the heading of a water craft using a propulsion device which pulls the water craft is disclosed. The device includes a motor with a variable thrust orientation and a controller for controlling the direction of the thrust of the motor. A feedback circuit, including a compass in a substantially fixed relationship to the motor, provides a feedback signal to the controller indicative of the direction of the thrust of the motor. A heading designator provides a desired heading signal to the controller. The controller maintains the heading of the water craft in the desired heading in response to the desired heading signal and the feedback signal by varying the orientation which is of the thrust.

Abstract: A marine autopilot includes a roll compensation feature to improve autopilot performance. An additional parameter is included in a proportional-integral-derivative control algorithm. The additional term corresponds to the roll angle of the vessel. Since, roll precedes deviation of a vessel from a desired course, the rudder moves to compensate for the disturbance prior to deviation from the desired course. In this way, the vessel's course keeping performance is improved and the overall rudder activity is reduced since the vessel remains more closely aligned with the desired course.

Abstract: A ship steering system has a multiplicity of selectable steering stations. A continuously rotating helm at each steering station generates digital rudder control signals which cause a predetermined rudder movement for each 360.degree. of helm rotation. Steering stations are selected through a multiplexer controlled at a command steering station. The steering system is operable from the command steering station in a plurality of modes, which includes auto-pilot, helm (full-follow-up), and tiller (non-follow-up). Helm and/or tiller modes of operation are available at steering stations remote from the command steering station. The system provides for an emergency takeover from the helm or autopilot modes by automatically establishing the tiller mode when the tiller stick is moved. When in the autopilot mode an alarm system provides an alert should the course deviate from a selected course tolerance.

Abstract: The rudder order bias integrator of a marine autopilot is reactivated upon substantial completion of a turning maneuver in response to heading error, heading rate and the derivative portion of the rudder order signal. Upon reactivation, the integrator time constant is ramped from a predetermined small value to the normal large time constant of the integrator.

Abstract: An automatic synchronizer 20 includes a throttle rod 62 which provides a direct link between the slave motor throttle lever 44 and the slave motor 36. A microprocessor system 30 provides a signal to a bi-directional synchronization motor 58 dependent on the difference in speed between a master reference motor 34 and the slave motor 36. Depending on this signal, the synchronization motor 58 positions the throttle rod 62 in order to directly effect the speed of the slave motor 36 and to reposition the slave motor throttle lever 44 to a position appropriate to the speed of the slave motor 36. Once synchronization has occurred, an electrically operated clutch 60 is deactivated such that a normal force will move the slave throttle lever 44.

Abstract: In a servo steering system for motor boats comprising a steering wheel which mechanically acts on the position of a hydraulic control valve, and a rubber cylinder connected to a hydraulic power unit by way of the control valve, the control valve comprises an additional adjustment unit which is connected to an autopilot unit and is controllable by this latter. In this way both normal servo-assisted hand-steering and autopilot steering are made possible in a simple manner.

Abstract: A system for automated controlling of the trim and stability of a vessel includes sensors for monitoring the value of the draft of the vessel, a sensor of the heel angle of the vessel and a heeling subsystem connected to a signal conditioner connected, in its turn, through an interface to a computer, a heel angle transducer connected with a comparator also connected with a unit for presetting the value of heeling of the vessel and with a switching unit connected with the heeling subsystem.

Abstract: Heading keeping apparatus for a marine vessel autopilot that compares the RMS yaw to a plurality of yaw increments and compares the instantaneous yaw to a plurality of yaw increments to provide respective gain controlling signals in accordance with the increments in which the RMS yaw and instantaneous yaw resides. The gain controlling signal representative of the highest gain is selected to control the gain of the autopilot.