Waterjet propulsion controls system

Abstract

Current waterjet technology uses hydraulic actuators that are linked to a hydraulic system aboard the vessel. Hydraulic actuators have a significant number of problems including, but not limited to, significant size and weight, poor efficiency, an excessive number of components, excessive heat generation, slop in the feedback system, overshooting of cylinders, limited ramping ability, frequent maintenance, environmental concerns, and difficulty in interfacing with control systems. In an effort to reduce, and in some cases eliminate, these issues, this invention discloses an apparatus and method of controlling a waterjet that uses electric actuators and motor controllers that are integrated on the jet. The use of multiple electric actuators also allows for redundancy, which makes the system more reliable. The system also allows a user to have direct actuator control and bypass the automatic settings for control system backup.

I claim: 
     
         1 . A waterjet propulsion control system comprising:
 (a) an electric actuation system comprising at least one electric actuator;   (b) a motor controller system comprising at least one motor controller;   (c) at least one jet controller;   (d) a reverser;   (e) a feedback system;   (f) a steering arm to connect with the steering nozzle; and   (g) a power supply;   wherein the electric actuation system is driven by the motor controller system to power said steering arm and the reverser;   wherein the electric actuation system is directly powered by the power supply; and   wherein the feedback system is integrated into the electric actuation as at least one encoder.   
     
     
         2 . The system of  claim 1 , wherein at least one motor controller is built into said electric actuator. 
     
     
         3 . The system of  claim 1 , wherein the reverser comprises a reverse bucket or a reverse gate. 
     
     
         4 . The system of  claim 1 , wherein the power supply comprises at least one capacitor bank. 
     
     
         5 . The system of  claim 1 , wherein the power supply comprises at least one ultra-capacitor. 
     
     
         6 . The system of  claim 1 , wherein said electric actuation system and said motor controller system are mounted inside the watercraft to a jet transom. 
     
     
         7 . The system of  claim 1 , wherein at least one electric actuator is nose-mounted to a ball socket in a manner that permits tilting when actuated. 
     
     
         8 . The system of  claim 1 , further comprising an emergency backup system comprising:
 (a) a backup panel;   (b) a steering or bucket/auto switch;   (c) a toggle switch; and   (d) electrical wiring;   wherein the “steering or bucket/auto” switch is wired to be capable of sending a signal to said electric actuator to ignore commands from a said motor controller electrically coupled with said electric actuator; and   wherein the toggle switch is wired to be capable of sending a signal to the said electric actuator to move the electric actuator in a positive or negative direction.   
     
     
         9 . The system of  claim 1 , wherein the feedback system further comprises a position sensor. 
     
     
         10 . The system of  claim 1 , wherein the feedback system further comprises a contact switch. 
     
     
         11 . The system of  claim 1 , further comprising two said electric actuators and said corresponding motor controllers, wherein the electric actuators and motor controllers are synchronized and use feedback from one actuator. 
     
     
         12 . A waterjet propulsion control system comprising:
 (a) an electric actuation system comprising at least one electric actuator;   (b) a motor controller system comprising at least one motor controller;   (c) at least one jet controller;   (d) a reverser;   (e) a fixed reverse scoop;   (f) a feedback system;   (g) a steering arm to connect with the steering nozzle; and   (h) a power supply;   wherein the electric actuation system is driven by the motor controller system to power said steering arm and the reverser;   wherein the electric actuation system is directly powered by the power supply; and   wherein the feedback system is integrated into the electric actuation as at least one encoder.   
     
     
         13 . The system of  claim 12 , wherein at least one motor controller is built into said electric actuator. 
     
     
         14 . The system of  claim 12 , wherein the reverser comprises a reverse bucket or a reverse gate. 
     
     
         15 . The system of  claim 12 , wherein the power supply comprises at least one capacitor bank. 
     
     
         16 . The system of  claim 12 , wherein the power supply comprises at least one ultra-capacitor. 
     
     
         17 . The system of  claim 12 , wherein said electric actuation system and said motor controller system are mounted inside the watercraft to a jet transom. 
     
     
         18 . The system of  claim 12 , wherein at least one electric actuator is nose-mounted to a ball socket in a manner that permits tilting when actuated. 
     
     
         19 . The system of  claim 12 , further comprising an emergency backup system comprising:
 (i) a backup panel;   (j) a steering or bucket/auto switch;   (k) a toggle switch; and   (l) electrical wiring;   wherein the “steering or bucket/auto” switch is wired to be capable of sending a signal to said electric actuator to ignore commands from a said motor controller electrically coupled with said electric actuator; and   wherein the toggle switch is wired to be capable of sending a signal to the said electric actuator to move the electric actuator in a positive or negative direction.   
     
     
         20 . The system of  claim 12 , wherein the feedback system further comprises a position sensor. 
     
     
         21 . The system of  claim 12 , wherein the feedback system further comprises a contact switch. 
     
     
         22 . The system of  claim 12 , further comprising two said electric actuators and said corresponding motor controllers, wherein the electric actuators and motor controllers are synchronized and use feedback from one actuator. 
     
     
         23 . A waterjet propulsion control system comprising:
 (a) an electric actuation system comprising at least one electric actuator;   (b) a motor controller system comprising at least one motor controller;
 wherein the at least one motor controller is built into said electric actuator; 
   (c) at least one jet controller;   (d) a reverser, comprising a reverse bucket or a reverse gate;   (e) a fixed reverse scoop;   (f) a feedback system comprising:
 (i) a position sensor; and 
 (ii) a control switch. 
   (g) a steering arm to connect with the steering nozzle;   (h) an emergency backup system comprising:
 (i) a backup panel; 
 (ii) a steering or bucket/auto switch; 
 (iii) a toggle switch; and 
 (iv) electrical wiring; 
 wherein the “steering or bucket/auto” switch is wired to be capable of sending a signal to said electric actuator to ignore commands from a said motor controller electrically coupled with said electric actuator; and 
 wherein the toggle switch is wired to be capable of sending a signal to the said electric actuator to move the electric actuator in a positive or negative direction; 
   (i) wherein the toggle switch is wired to be capable of sending a signal to the said electric actuator to move the electric actuator in a positive or negative direction.   (j) a power supply, comprising:
 (i) at least one capacitor bank; and 
 (ii) at least one ultra-capacitor 
   wherein the electric actuation system is driven by the motor controller system to power said steering arm and the reverser;   wherein the electric actuation system is directly powered by the power supply;   wherein the feedback system is built into the electric actuation as at least one encoder;   wherein said electric actuation system and said motor controller system are mounted inside the watercraft to a jet transom; and   wherein at least one electric actuator is nose-mounted to a ball socket in a manner that permits tilting when actuated.   
     
     
         24 . The system of  claim 12 , further comprising two said electric actuators and said corresponding motor controllers, wherein the electric actuators and motor controllers are synchronized and use feedback from one actuator. 
     
     
         25 . A method for controlling jet-powered watercraft wherein:
 (a) a pair of electric actuators and an associated pair of motor controllers are mounted inside the housing of the watercraft;   (b) the motor controllers and electric actuators are powered using said watercraft's main power supply;   (c) a steering arm is used to steer the watercraft;   (d) a reverse bucket is used to reverse the travel direction of the watercraft;   (e) a positioning command from a user is sent to a first of said electric actuators;   (f) once said first electric actuator receives the positioning command, the second electric actuator applies the same current to said steering as the first electric actuator.   
     
     
         26 . The method of  claim 14 , wherein at least one capacitor bank is implemented within the power supply to prevent power surges. 
     
     
         27 . The method of  claim 14 , wherein at least one ultra-capacitor is implemented with the power supply to prevent power surges. 
     
     
         28 . The method of  claim 14 , wherein a fixed reverse scoop is used in conjunction with the reverse bucket to increase the reverse thrust of the watercraft. 
     
     
         29 . The method of  claim 14 , wherein a second pair of electric actuators and associated motor controllers are mounted inside the housing of the watercraft and powered using said main supply, said second pair of electric actuators are connected with said reverse bucket, a forward/reversing command input by said user is sent to a first of said second pair of electric actuators and once the first of said second pair of electric actuators receives said forward/reversing command, the second electric actuator of said second pair of electric actuators applies the same current to the reverse bucket in the same direction as said first electric actuator of said second pair. 
     
     
         30 . A method for controlling jet-powered watercraft wherein:
 (a) a pair of electric actuators and an associated pair of motor controllers are mounted inside the housing of the watercraft;   (b) the motor controllers and electric actuators are powered using said watercraft's main power supply;   (c) a steering arm is used to steer the watercraft;   (d) a reverse bucket is used to reverse the travel direction of the watercraft;   (e) a positioning command from a user is sent to a first of said electric actuators;   (f) once said first electric actuator receives the positioning command, the second electric actuator applies the same current to said steering as the first electric actuator but in the opposite direction;   wherein at least one capacitor bank and at least one ultra-capacitor are implemented within the power supply to prevent power surges; and   wherein a fixed reverse scoop is used in conjunction with the reverse bucket to increase the reverse thrust of the watercraft.   
     
     
         31 . The method of  claim 19 , wherein a second pair of electric actuators and associated motor controllers are mounted inside the housing of the watercraft and powered using said main supply, said second pair of electric actuators are connected with said reverse bucket, a forward/reversing command input by said user is sent to a first of said second pair of electric actuators and once the first of said second pair of electric actuators receives said forward/reversing command, the second electric actuator of said second pair of electric actuators applies the same current to the reverse bucket in the same direction as said first electric actuator of said second pair.