公开(公告)号：EP4017793A1

公开(公告)日：2022-06-29

申请号：EP19756173.1

申请日：2019-08-19

申请人： Volvo Penta Corporation

发明人： WESSMAN, Björn

IPC分类号： B63B1/30 ,  B63B1/28 ,  B63H20/10 ,  B63B1/20

公开(公告)号：EP4072935A1

公开(公告)日：2022-10-19

申请号：EP19829430.8

申请日：2019-12-10

申请人： Volvo Penta Corporation

发明人： WESSMAN, Björn ,  FREDRIK, Brodén

IPC分类号： B63B1/08 ,  B63B83/30 ,  B63B1/30 ,  B63B1/28

公开(公告)号：EP4403457A1

公开(公告)日：2024-07-24

申请号：EP24152795.1

申请日：2024-01-19

申请人： Volvo Penta Corporation

发明人： RYDSTRÖM, Mats ,  WESSMAN, Björn ,  KÖHLBERG, Dennis ,  TUULIAINEN, Peter

IPC分类号： B63B39/08 ,  B63H5/125 ,  B63H20/08 ,  G01S13/60

CPC分类号： G01S13/605 ,  B63H5/08 ,  B63H5/1252 ,  B63H2005/125620130101 ,  B63H2020/00520130101 ,  B63H20/10 ,  B63B1/285 ,  B63B1/28 ,  B63B39/06

摘要： A marine vessel (100, 200, 500) comprising a hull (110), a propulsion system (120), a control unit (130) and a motion sensor system (140),
where the propulsion system (120) comprises a first drive unit (120a) and a second drive unit (120b) separated by a longitudinal midship line (115) of the hull (110), where each drive unit (120a, 120b) is arranged to generate thrust (T) in a controllable thrust elevation angle (ωy,T) and in a controllable thrust azimuth angle (ωz,T), where at least the thrust elevation angles (ωy,T) are individually controllable,
where the control unit (130) is arranged to estimate a pitch motion (ωy) and a roll motion (ωx) of the hull (110) based on input from the motion sensor system (140), and
where the control unit (130) is arranged to suppress pitch motion and roll motion by the hull (110) by controlling the thrust elevation angles (ωy,T) and the thrust azimuth angles (ωz,T) of the first and second drive units (120a, 120b).