| 主权项 |
1. A marine propulsion control system controlling a set of propulsion units carried by a hull of a vessel, wherein the set of propulsion units comprise a first, a second, a third, and a fourth propulsion unit, the marine propulsion control system comprising a control unit configured to:
receive an input command from a steering control instrument for operating the vessel; determine a desired delivered thrust, gear selection and steering angle for the first, second, third and fourth propulsion unit respectively, based on the input command, and provide a set of control commands for controlling the desired delivered thrust, gear selection and steering angle for the first, second, third and fourth propulsion unit, wherein if the input command simultaneously indicates a sway and yaw input command the control unit is configured to simultaneously provide at least a first control command to the first and fourth propulsion units and a second control command to the second and third propulsion units, wherein the first control command is adapted to achieve a sway movement of the marine vessel and the second control command is adapted to achieve a yaw movement of the marine vessel. |
