Synchronizing multiple steering inputs to marine...

Details Synchronizing multiple steering inputs to marine... Synchronizing multiple steering inputs to marine...

B - Operations, Transporting

63

H

B63H 25/18 (2006.01) B63H 25/02 (2006.01)

Patent

CA 2293850

A steering system (100) includes an incremental helm (102), a control panel (104), and an autopilot (106) that are electrically connected to a command processor (108). The steering system further includes an autopilot attitude controller (110) and an incremental servo (112) for actuating the rudder. The incremental helm acts as a course selector for the autopilot. Upon autopilot engagement, the set heading is the current heading plus any heading change received from the helm after engagement. A course selection controller (120) employs a helm increment summer (122) and a washout filter (124) that are initialized to zero upon engagement. The washout filter follows short-term course changes but forgets them over a longer time. A disengage threshold block (126) receives the washout filter output and disengages the autopilot if the threshold is exceeded. The course selection controller allows a helmsman to make occasional course changes without automatically disengaging the autopilot unless the helmsman rotates the helm at a rate that exceeds the threshold. Upon disengagement, the autopilot is inhibited from re-engaging for a short time, after which the autopilot can re-engage when the turning rate approaches zero. The steering system further includes a helm rotation stop that provides the helmsman with rudder stop position feedback, responds to the rudder stops regardless of the current steering ratio, incorporates a powerful braking action with a low-power mechanism, and provides unidirectional braking at either rudder stop in response to a single steering limit signal.

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