US 12,007,771 B1
Marine steering system and method
Matthew E. Derginer, Butte des Mort, WI (US); John O. Scherer, III, Oshkosh, WI (US); and Roger W. Schreiber, Fremont, WI (US)
Assigned to Brunswick Corporation, Mettawa, IL (US)
Filed by Brunswick Corporation, Mettawa, IL (US)
Filed on May 25, 2022, as Appl. No. 17/824,071.
Application 17/824,071 is a continuation of application No. 16/535,946, filed on Aug. 8, 2019, granted, now 11,372,411.
Int. Cl. G05D 1/00 (2024.01); B63H 25/38 (2006.01)
CPC G05D 1/0206 (2013.01) [B63H 25/381 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A steering system on a marine vessel, the steering system comprising:
at least one outboard drive configured to propel the marine vessel;
a steering actuator configured to rotate the at least one outboard drive so as to effectuate steering of the marine vessel;
at least one trim device coupled to the marine vessel and movable with respect to a hull of the marine vessel to adjust a running angle thereof;
at least one trim actuator configured to move the at least one trim device so as to effectuate adjustment of the running angle of the marine vessel;
a control system configured to:
determine a desired roll angle and at least one of a desired turn rate and a desired turn angle for the marine vessel based on a steering instruction;
determine a predicted lateral side force based on at least one of the steering instruction, the desired turn rate, the desired roll angle, and a maximum roll angle of the marine vessel; and
control the steering actuator to rotate the at least one outboard drive based on the predicted lateral side force and the desired turn rate and/or the desired turn angle and control the at least one trim actuator to move the at least one trim device based on the desired roll angle so as to effectuate the steering instruction.