公开(公告)号：US20240310857A1

公开(公告)日：2024-09-19

申请号：US18418971

申请日：2024-01-22

Applicant: ABB Schweiz AG

Inventor： Hamid Feyzmahdavian ,  Shiva Sander Tavallaey ,  Stefan Thorburn

IPC: G05D1/661 ,  G05D1/622 ,  G05D1/644 ,  G05D101/15 ,  G05D109/30

CPC classification number: G05D1/661 ,  G05D1/622 ,  G05D1/644 ,  G05D2101/15 ,  G05D2109/34

Abstract: A computer-implemented method for generating control parameters for auto-docking of a marine vessel, and to a control unit for executing the method, to a marine vessel including the control unit, and to a corresponding computer program product.

公开(公告)号：US20240262482A1

公开(公告)日：2024-08-08

申请号：US18419838

申请日：2024-01-23

Applicant: ABB Schweiz AG

Inventor： Jonas Linder ,  Hamid Feyzmahdavian ,  Kalevi Tervo

IPC: B63H25/04 ,  B63H25/42

CPC classification number: B63H25/04 ,  B63H25/42

Abstract: A method of controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method including estimating, by a control system, an operational condition associated with the vessel; and commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode. A control system and a vessel are also provided.

公开(公告)号：US20240004387A1

公开(公告)日：2024-01-04

申请号：US18342857

申请日：2023-06-28

Applicant: ABB Schweiz AG

Inventor： Michael Lundh ,  Jonas Linder ,  Hamid Feyzmahdavian

IPC: G05D1/02 ,  B63H21/21 ,  B63B79/40

CPC classification number: G05D1/0206 ,  B63H21/21 ,  B63B79/40 ,  B63H2021/216

Abstract: A high-level motion controller provides a lower-level thrust allocation with generalized forces demanded on the ship for the current instant of time as well as a prediction of future generalized forces {{circumflex over (τ)}D}t=0T demanded over a predicted future time, and optionally one or more other reference predictions, such as a time-varying velocity and position of the ship {{circumflex over (η)}D, {circumflex over (ν)}D}t=0T. When predictions of the future desired forces and torque are made available to the lower-level thrust allocation, the lower-level thrust allocation will be aware of what is needed in the future and use the predictions to make efficient changes towards the desired future references, when it generates control signals to thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the individual thrusters.

公开(公告)号：US20250002133A1

公开(公告)日：2025-01-02

申请号：US18753005

申请日：2024-06-25

Applicant: ABB Schweiz AG

Inventor： Winston Garcia-Gabin ,  Kateryna Mishchenko ,  Bin Liu ,  Wei Ji ,  Hamid Feyzmahdavian ,  Veli-Pekka Peljo ,  Mika Nuutinen ,  Petri Säkkinen

IPC: B63H25/42 ,  B63H1/28 ,  B63H21/21

Abstract: A method for controlling a marine vehicle propulsion system is disclosed. The propulsion system includes a cyclorotor propeller, an actuator arrangement, and a controller. The method includes receiving, by the controller, a request including at least one force request and/or at least one torque request; determining, by the controller, values for a set of control parameters based on the request; and controlling, by the actuator arrangement receiving the values for the set of control parameters from the controller, the cyclorotor propeller based on the values received.