US 11,675,372 B2
Method and system for controlling attitude of a marine vessel
Matthew E. Derginer, Butte des Mort, WI (US); and David D. Dochterman, Panama City, FL (US)
Assigned to Brunswick Corporation, Mettawa, IL (US)
Filed by Brunswick Corporation, Mettawa, IL (US)
Filed on Aug. 8, 2019, as Appl. No. 16/536,013.
Prior Publication US 2021/0173413 A1, Jun. 10, 2021
Int. Cl. G05D 1/08 (2006.01); B63B 39/00 (2006.01); B63H 25/42 (2006.01)
CPC G05D 1/0875 (2013.01) [B63B 39/00 (2013.01); B63H 25/42 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling attitude of a marine vessel, the method comprising:
measuring a roll motion of the marine vessel with an attitude sensor;
determining that the roll motion exceeds a threshold roll, where no corresponding steering input is present;
determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and a natural roll frequency of the marine vessel, wherein the counteracting drive movement includes a frequency of rotation of the propulsion device; and
controlling a steering actuator to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract the roll motion of the marine vessel.