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

发明人： Mathias Lindeborg ,  Yoshikazu Nakayasu

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.