System and method for controlling a marine vessel

Abstract

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

What is claimed is: 
     
         1 - 28 . (canceled) 
     
     
         29 . A method for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:
 at least one of:   inducing a net yawing force to the marine vessel by controlling at least one of the first and second steerable propulsors while at least partially countering a rolling force produced by the at least one of the first and second steerable propulsors by controlling at least one of the first and second trim deflectors; or   inducing a net rolling force to the marine vessel by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.   
     
     
         30 . The method of  claim 29 , wherein the method comprises inducing the net yawing force, wherein the net yawing force is a first net yawing force, and the method further comprises inducing a second net yawing force to the marine vessel to port or to starboard by maintaining the first and second steerable propulsors in a neutral position and controlling at least one of the first and second trim deflectors. 
     
     
         31 . The method of  claim 29 , wherein the method further comprises:
 inducing a net trimming force in a down direction to a stern of the marine vessel by controlling each of the first and second steerable propulsors.   
     
     
         32 . The method of  claim 29 , further comprising increasing the stability of the marine vessel by controlling each of the first and second steerable propulsors and by controlling each of the first and second trim deflectors. 
     
     
         33 . The method of  claim 29 , further comprising receiving a first vessel control signal from a first vessel control apparatus having at least two degrees of freedom, the first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom. 
     
     
         34 . The method of  claim 33 , further comprising receiving a second vessel control signal that corresponds to movement of a second vessel control apparatus along at least one second degree of freedom. 
     
     
         35 . The method of  claim 33 , wherein a first degree of freedom of the first vessel control apparatus controls a net rolling force induced to the marine vessel, and a second degree of freedom of the first vessel control apparatus controls a net trimming force induced to the marine vessel. 
     
     
         36 . The method of  claim 33 , further comprising receiving a second vessel control signal from an autopilot controller. 
     
     
         37 . The method of  claim 29 , wherein each of the first and second steerable propulsors comprises a propeller, or a waterjet with a steering nozzle. 
     
     
         38 . The method of  claim 29 , further comprising controlling at least one of the first and second steerable propulsors and at least one of first and second trim deflectors in combination so as to induce a desired amount of roll in a turn. 
     
     
         39 . The method of  claim 29 , wherein the first and second trim deflectors are configured to generate a hydrodynamic lifting force. 
     
     
         40 . The method of  claim 39 , wherein each of the first and second trim deflectors comprises a trim tab or an interceptor. 
     
     
         41 . A system for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:
 a processor that is configured to induce, to the marine vessel, at least one of:   a net yawing force by controlling at least one of the first and second steerable propulsors while at least partially countering a rolling force produced by the at least one of the first and second steerable propulsors by controlling at least one of the first and second trim deflectors; or   a net rolling force by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.   
     
     
         42 . The system of  claim 41 , wherein the processor is further configured induce a net yawing movement of the vessel to port or starboard by actuating at least one of the first and second trim deflectors with the first and second steerable propulsors maintained in a neutral position. 
     
     
         43 . The system of  claim 41 , wherein the processor is further configured to induce a net trimming force to the stern of the marine vessel in an up direction or a down direction by controlling each of the first and second steerable propulsors and by controlling the first and second trim deflectors. 
     
     
         44 . The system of  claim 41 , wherein the processor is configured to increase the stability of the marine vessel by controlling each of the first and second steerable propulsors and by controlling each of the first and second trim deflectors. 
     
     
         45 . The system of  claim 41 , further comprising a first vessel control apparatus having at least two degrees of freedom that provides a first vessel control signal corresponding to a movement of the first vessel control apparatus along at least one degree of freedom. 
     
     
         46 . The system of  claim 45 , wherein the first vessel control apparatus comprises a two-axis control device. 
     
     
         47 . The system of  claim 46 , wherein a first axis of the two-axis control device controls a net rolling force induced to the marine vessel and a second axis of the two-axis control device controls a net trimming force induced to the marine vessel. 
     
     
         48 . The system of  claim 41 , further comprising a vessel control apparatus providing a vessel control signal corresponding to movement of the vessel control apparatus.