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), andwhere 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).
MARINE VESSEL MOTION ESTIMATION AND STABILIZATION
SCHÄTZUNG UND STABILISIERUNG DER BEWEGUNG EINES WASSERFAHRZEUGS
ESTIMATION ET STABILISATION DE MOUVEMENT DE VAISSEAU MARIN
2024-07-24
Patent
Electronic Resource
English