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公开(公告)号：US11845523B2
公开(公告)日：2023-12-19
申请号：US16981423
申请日：2018-05-08
申请人： CPAC SYSTEMS AB
发明人： Erik Gulliksson , Mathias Lindeborg
IPC分类号： B63B13/00 , B63H21/21 , B63B79/40 , B63B79/10 , B63H21/14 , B63H21/17 , B63H25/00 , B63B34/00
CPC分类号： B63H21/21 , B63B13/00 , B63B34/00 , B63B79/10 , B63B79/40 , B63H21/14 , B63H21/17 , B63H25/00 , B63H2021/216
摘要： A method for controlling a propulsion operation of a propulsion unit to reach a desired speed of a marine vessel. The method comprises obtaining a target speed configuration indicating the desired speed of the marine vessel, obtaining a current speed value associated with a current speed of the marine vessel, obtaining a fill level value associated with a fill level of one or more ballast tanks of the marine vessel, and controlling the propulsion operation of the propulsion unit to reach the desired speed based on the target speed configuration, the current speed value, and on the fill level value.
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公开(公告)号：US10137973B2
公开(公告)日：2018-11-27
申请号：US15118106
申请日：2014-02-12
申请人： CPAC Systems AB
IPC分类号： B63H25/42 , B63H20/12 , B63H25/02 , B63J99/00 , B63H5/08 , B63H5/125 , B63H21/21 , B63H20/00
摘要： The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.
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公开(公告)号：US20180305890A1
公开(公告)日：2018-10-25
申请号：US15576808
申请日：2015-06-16
申请人： CPAC SYSTEMS AB
发明人： Magnus JOHANSSON , Per BJÖRE DAHL
CPC分类号： E02F3/435 , E02F3/32 , E02F3/964 , E02F9/2025 , E02F9/2029 , E02F9/26 , E02F9/265 , G01C5/00 , G01F22/00 , G01G19/08 , G01L5/0061
摘要： A method is provided for determining the vertical position of at least a point of a ground portion using a work machine including an implement. The work machine further includes a position determining arrangement adapted to determine at least the vertical position of the implement and a force determining arrangement adapted to determine a force applied to the implement. The method includes determining a contact force value indicative of a contact force between the ground portion and the implement using the force determining arrangement, determining whether or not the contact force value is within a predetermined contact force value range, and if it is determined that the contact force value is within the predetermined contact force value range, using the position determining arrangement for determining at least the vertical position of a portion of the implement which is in contact with the ground portion.
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4.发明授权Steering control system for a vessel and method for operating such a steering control system 有权用于船舶的转向控制系统和操作这种转向控制系统的方法公开(公告)号：US09567052B2
公开(公告)日：2017-02-14
申请号：US12439847
申请日：2006-09-08
发明人： Peter Torrångs , Lennart Arvidsson
CPC分类号： B63H20/12 , B63H21/265 , B63H25/02 , B63H25/42
摘要： Steering control system for a vessel including set of propulsion units including at least two propulsion units pivotally arranged in relation to the hull of the vessel for generating a driving thrust of the vessel in a desired direction, the control system including a steering control instrument for generating input signals for control of a desired route of the vessel a control unit complex controlling the angular position of the propulsion units, the control unit complex being arranged for receiving input signals from the steering control instrument, which input signals represents a general direction of movement of the vessel and thus a general desired angular position of each propulsion unit the control unit complex furthermore containing a feed forward pivot angle correction control block for each propulsion unit, which feed forward pivot angle correction blocks are arranged to generate desired angular positions of the propulsion units by adding a correction value to the general desired angular position of the propulsion units, the correction value including compensation for toe in setting of the propulsion units and/or Ackerman position setting of the propulsion units, and method for operating such a steering control system.
摘要翻译： 一种用于船舶的转向控制系统，包括一组推进装置，包括至少两个相对于容器船体枢转布置的推进装置，用于在期望的方向产生船舶的驱动推力，该控制系统包括用于产生 输入信号，用于控制所述船舶的期望路线，控制单元复合体，其控制所述推进单元的角位置，所述控制单元复合体布置成用于接收来自所述转向控制装置的输入信号，所述输入信号表示所述主要运动方向 所述船舶以及因此每个推进单元的一般期望的角度位置，所述控制单元复合体还包含用于每个推进单元的前馈枢转角度校正控制块，所述推进单元的前馈枢转角度校正块被布置成产生所需推进单元的角位置 通过添加一般修正值 推进单元的有角度位置，包括对推进单元的设置中的脚趾的补偿和/或推进单元的阿克曼位置设置的校正值以及用于操作该转向控制系统的方法。
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公开(公告)号：US20230227140A1
公开(公告)日：2023-07-20
申请号：US18154115
申请日：2023-01-13
申请人： CPAC SYSTEMS AB
发明人： Jonathan PERSSON , Eric GUSTAFSSON
摘要： A joystick device is operable to provide speed, direction and steering commands for controlling a marine vessel. A marine propulsion control system controls a set of propulsion units carried by a hull of a marine vessel, wherein the marine propulsion control system is adapted to receive an input command from such a joystick device.
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公开(公告)号：US20230195117A1
公开(公告)日：2023-06-22
申请号：US17999283
申请日：2020-05-20
申请人： CPAC SYSTEMS AB
CPC分类号： G05D1/0206 , B63B79/40 , B63H25/04 , B63H2020/003
摘要： The disclosure relates to a method and a control unit to control a marine vessel comprising two or more drive units. The method involving the steps of registering an operating command indicating a requested vessel direction and plotting a course represented by a reference line for the requested vessel direction from an initial position. It is then monitored if the vessel has deviated from the reference line and if a deviation from the reference line is detected, then a value for current vessel speed is detected. The detected vessel speed value is compared to a predetermined reference speed value to determine if the current vessel speed value is within a high speed interval or a low speed interval relative to the reference speed value. Depending on the determined speed interval the vessel is controlled according a low speed control strategy; or a high speed control strategy in order to move the vessel from a current vessel heading to the reference line and the requested vessel direction.
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公开(公告)号：US20220177102A1
公开(公告)日：2022-06-09
申请号：US17439624
申请日：2019-03-20
申请人： CPAC SYSTEMS AB
发明人： David NYDAHL
摘要： The invention relates to a method to control at least a first and a second parallel hybrid driveline (101, 102; 310, 320, 330) arranged to drive a marine vessel (100). Each driveline comprises a first propulsion unit (111, 112; 311, 321, 331) in the form of an internal combustion engine operatively connected with a second propulsion unit (121, 122; 312, 322, 332) in the form of an electric motor to drive a propeller shaft (107, 108; 313, 323, 333) and produce a thrust force, and where at least one control unit (316, 326, 336; 317, 327, 337; 340) is arranged to control each first and second propulsion unit in all the parallel hybrid drivelines. The method involves individual adjustment of the rotational speed (n1, n2) of the first propulsion unit (111, 112; 311, 321, 331) in each driveline to improve the efficiency of this first propulsion unit while maintaining the requested vessel speed, and a simultaneous adjustment of the load from the corresponding second propulsion unit (121, 122; 312, 322, 332) in each driveline to improve the efficiency of each driveline and the complete driveline installation.
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公开(公告)号：US11027812B2
公开(公告)日：2021-06-08
申请号：US16315716
申请日：2016-07-07
申请人： CPAC SYSTEMS AB
发明人： Mathias Lindeborg
摘要： A method for a propulsion arrangement (101) for providing propulsive power to a marine vessel (1), the method comprising the steps of: —determining (S1) whether the vessel (1) is running by means of the propulsion arrangement at a constant vessel speed, —storing (S3) a value (V1) of the constant vessel speed, —detecting (S4) a value (n1) of a rotational speed of a rotatable part (102) of the propulsion arrangement while the vessel is running at the constant vessel speed, —storing (S5) the detected rotational speed value, —subsequently controlling (S6) the propulsion arrangement so as to change the vessel speed, —subsequently repeating (S7-S11) the steps of determining whether the vessel is running at a constant vessel speed, storing a value (V2-V4) of the constant vessel speed, and detecting and storing a value (n2-n4) of the rotational speed of the rotatable part, to obtain a plurality of stored pairs of vessel speed values and rotational speed values, and —creating (S12) based at least partly on the stored pairs of values a correlation record (126) correlating vessel speed values with rotational speed values.
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公开(公告)号：US20190210705A1
公开(公告)日：2019-07-11
申请号：US16315716
申请日：2016-07-07
申请人： CPAC SYSTEMS AB
发明人： Mathias Lindeborg
IPC分类号： B63H21/21
CPC分类号： B63H21/21 , B63H2021/216 , F02D3/00 , F02D2200/501
摘要： A method for a propulsion arrangement (101) for providing propulsive power to a marine vessel (1), the method comprising the steps of: —determining (S1) whether the vessel (1) is running by means of the propulsion arrangement at a constant vessel speed, —storing (S3) a value (V1) of the constant vessel speed, —detecting (S4) a value (n1) of a rotational speed of a rotatable part (102) of the propulsion arrangement while the vessel is running at the constant vessel speed, —storing (S5) the detected rotational speed value, —subsequently controlling (S6) the propulsion arrangement so as to change the vessel speed, —subsequently repeating (S7-S11) the steps of determining whether the vessel is running at a constant vessel speed, storing a value (V2-V4) of the constant vessel speed, and detecting and storing a value (n2-n4) of the rotational speed of the rotatable part, to obtain a plurality of stored pairs of vessel speed values and rotational speed values, and —creating (S12) based at least partly on the stored pairs of values a correlation record (126) correlating vessel speed values with rotational speed values.
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公开(公告)号：US20150127197A1
公开(公告)日：2015-05-07
申请号：US14378295
申请日：2012-02-14
申请人： Mathias Lindeborg
发明人： Mathias Lindeborg
CPC分类号： B63H25/02 , B63H20/00 , B63H20/12 , B63H21/21 , B63H21/265 , B63H2020/003
摘要： In a marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, cavitation typically occurs on the propulsion unit with reverse gear engaged, and in a triple propulsion unit installation the normally idle center propulsion unit can be used to increase the reverse thrust and thereby limit the RPM of propulsion units in reverse, so that the cavitation effect is limited, and simultaneously allow for higher forward thrust on the third propulsion unit, thus increasing the total thrust for the vessel.
摘要翻译： 在用于控制由船体承载的一组推进装置的船舶推进控制系统中，通常在具有倒档齿轮啮合的推进装置上发生气蚀，并且在三推进装置中，通常空转的中心推进装置可用于 增加反向推力，从而相反地限制推进装置的转速，从而限制空化作用，并同时允许在第三推进装置上产生较高的向前推力，从而增加了船舶的总推力。
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