Method and apparatus for controlling waterjet-driven marine vessel

Abstract

A system for controlling a marine vessel having first and second waterjets, corresponding first and second steering nozzles and corresponding first and second reversing buckets. The system comprises a speed control device for providing a first vessel control signal that corresponds to a speed to be provided to the marine vessel, a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal coupled to the first and second waterjets, and at least one second actuator control signal coupled to the first and second steering nozzles and the first and second reversing buckets. The system any of improves upon turns provided by conventional waterjet propulsion systems, improves upon slowing down or stopping marine vessels as is done by conventional waterjet propulsion systems, and improves upon the controllability of the waterjet propulsed marine vessel at low vessel speeds.

What is claimed is: 
     
         1 - 17 . (canceled) 
     
     
         18 . A method of controlling a marine vessel comprising one or more steerable propulsors, the method comprising:
 in response to a first command through a first user interface to turn the marine vessel in a first direction, inducing the marine vessel to perform a turn in the first direction by turning at least one of the one or more steerable propulsors; and   in response to a second command through a second user interface to increase a turning moment of the turn, controlling at least one of the one or more steerable propulsors to increase a thrust angle.   
     
     
         19 . The method of  claim 18 ,
 wherein the first user interface has at least a first degree of freedom and the first command is generated in response to operation of the first user interface along at least the first degree of freedom; and   wherein the second user interface has at least a second degree of freedom and the second command is generated in response to operation of the second user interface.   
     
     
         20 . The method of  claim 18 , wherein the marine vessel comprises a mechanical device, and wherein increasing the thrust angle comprises actuating the mechanical device. 
     
     
         21 . The method of  claim 20 , wherein the second command indicates an amount by which to increase the turning moment of the turn, and actuating the mechanical device comprises actuating the mechanical device based on the amount by which to increase the turning moment of the turn. 
     
     
         22 . The method of  claim 21 , wherein the amount by which to increase the turning moment of the turn is determined based on an extent the second user interface is operated. 
     
     
         23 . The method of  claim 20 , wherein the mechanical device comprises a deflector. 
     
     
         24 . The method of  claim 23 , wherein the deflector comprises a reversing deflector. 
     
     
         25 . The method of  claim 19 , wherein the first user interface comprises a helm or a control stick. 
     
     
         26 . The method of  claim 19 , wherein the second user interface comprises a button. 
     
     
         27 . The method of  claim 19 , wherein the first user interface is integrated with the second user interface. 
     
     
         28 . A system for controlling a marine vessel having one or more steerable propulsors, the system comprising:
 at least one processor configured to:   in response to a first command through a first user interface to turn the marine vessel in a first direction, induce the marine vessel to perform a turn in the first direction by turning at least one of the one or more steerable propulsors; and   in response to a second command through a second user interface to increase a turning moment of the turn, control at least one of the one or more steerable propulsors to increase a thrust.   
     
     
         29 . The system of  claim 28 ,
 wherein the first user interface has at least a first degree of freedom and the first command is generated in response to operation of the first user interface along at least the first degree of freedom, and   wherein the second user interface has at least a second degree of freedom and the second command is generated in response to operation of the second user interface.   
     
     
         30 . The system of  claim 28 , wherein the marine vessel further comprises a mechanical device, and wherein the thrust angle is increased by actuating the mechanical device. 
     
     
         31 . The system of  claim 30 , wherein the second command indicates an amount by which to increase the turning moment of the turn, and the at least one processor is configured to actuate the mechanical device based on the amount by which to increase the turning moment of the turn. 
     
     
         32 . The system of  claim 31 , wherein at least one processor is further configured to determine the amount by which to increase the turning moment of the turn based on an extent a user interface is operated. 
     
     
         33 . The system of  claim 30 , wherein the mechanical device comprises a deflector. 
     
     
         34 . The system of  claim 33 , wherein the deflector comprises a reversing deflector. 
     
     
         35 . The system of  claim 29 , wherein the first user interface comprises a helm or a control stick, and wherein the second user interface comprises a button. 
     
     
         36 . The system of  claim 29 , wherein the first user interface is integrated with the second user interface. 
     
     
         37 . The method of  claim 18 , wherein controlling at least one of the one or more steerable propulsors increases the thrust angle of a first steerable propulsor of the one or more steerable propulsors to a value greater than that which can be produced by turning the first steerable propulsor. 
     
     
         38 . The system of  claim 28 , wherein the at least one processor is configured to control at least one of the one or more steerable propulsors to increase the thrust angle of a first steerable propulsor of the one or more steerable propulsors to a value greater than that which can be produced by turning the first steerable propulsor.