A stabilized a hydrofoil water craft comprising: a water-craft base member, a hydrofoil mast having proximal and distal portions; said proximal portion mechanically connected to said bottom side of said water-craft base member, a fuselage mechanically connected to said distal portion of said at least one hydrofoil mast, a rudder configured for controlling a yaw angle of said water craft, an elevator rotatable around an axis lying in a plane parallel to water-craft base member and a stabilization arrangement further comprising at least one sensor configured for detecting a 3D orientation of said water-craft base member, an estimator configured for estimating the 3D orientation, actuators for manipulating the rudder and elevator and a controller for analyzing the estimated 3D orientation and controlling the actuators. In response to a disturb roll inclination of the water craft, the controller generates a command to a rudder actuator to compensate the detected inclination.

A supporting system for a floating unit in shallow water exerts controlled stresses on the floating unit hull and includes supporting structure for the hull. An extendable supporting device operatively connects to the supporting structure and is suitable to support a predetermined weight of the floating unit and load when entirely supported by the extendable supporting device and when the extendable supporting device rests on a bed of a water body. An actuator device connects to the supporting structure and operatively connects to the extendable supporting device for extension or contraction. A control device operatively connects to the actuator device to control the extraction or contraction movement of the extendable supporting device. The system includes at least one hull stress monitoring device operatively connected to the control device. A device to monitor the stress, or load, on the extendable supporting device operatively connects to the control device.

A gyroscopic roll stabilizer comprises a gimbal having a support frame and enclosure configured to maintain a below-ambient pressure, a flywheel assembly including a flywheel and flywheel shaft, one or more bearings for rotatably mounting the flywheel inside the enclosure, a motor for rotating the flywheel, and bearing cooling system for cooling the bearings supporting the flywheel. For smaller units, the bearing cooling system is effective to enable a flywheel with a moment of inertia less than 40,000 lb in.sup.2 to be accelerated at a rate of 5 rpm/s or greater. For larger units, the bearing cooling system is effective to enable a flywheel with a moment of inertia greater than 40,000 lb in.sup.2 to be accelerated at a rate of 2.5 rpm/s or greater.

A dynamic active control system (DACS) configured for: (1) total vessel pitch axis control by fast symmetric deployment of water engagement devices (WEDs) or controllers, coupled with engine trim adjustments; (2) total roll and heading control by differentially deploying WEDs to counter rolling motions while simultaneously adjusting engine steering position to counter the steering moment associated with WED delta position; and (3) adjustment of the engine steering angle to counter yaw moments produced by gyroscopic stabilization systems.

A method is disclosed for controlling heading of a marine vessel having a steerable component coupled thereto, the steerable component being rotatable to affect a direction of movement of the vessel. The method is carried out by a control module and includes accepting a command to initiate a control mode in which the vessel's heading is to be maintained at a desired heading. The method includes receiving a current heading of the vessel and determining a heading error between the current heading and the desired heading. The method also includes determining if the vessel is on-plane or off-plane. In response to the vessel being off-plane, the method includes controlling the steerable component to rotate by at least a predetermined correction amount away from a starting position in a direction that will cause the vessel to rotate to reduce the heading error, and subsequently to rotate back toward the starting position.

A ship assistance device including a storage medium storing a computer-readable command and a processor connected to the storage medium, the processor executing the computer-readable command to: calculate a pitching amount of a ship body based on a plurality of images photographed by a camera mounted on the ship body; estimate a pitching cycle of the ship body at least based on the calculated pitching amount; predict pitching of the ship body based on the estimated pitching cycle; and control a throttle of the ship body so as to reduce the predicted pitching of the ship body.

A method and a controller unit for controlling motion of a watercraft with a hydrofoil) obtains information indicating shape of water surface in front of the hydrofoil. The controller unit further predicts wave acceleration of the watercraft using a neural network. Furthermore, the controller unit determines a target route and corresponding total acceleration of the watercraft under a set of constraints. The total acceleration is minimized when the watercraft travels according to the target route. The set of constraints includes: a first constraint that the hydrofoil stays within an interval relative to the water surface, and a second constraint relating to magnitude of acceleration derived from maximum AoA and the predicted wave acceleration. The controller unit calculates an AoA for the target route. Next, the controller unit sends a signal for adjusting the hydrofoil according to the AoA.

The present disclosure provides a design method for an active disturbance rejection roll controller of a vehicle under disturbance of complex sea conditions, including: step 1: establishing a vehicle roll attitude control model; step 2: designing an active disturbance rejection controller (ADRC) on the basis of the control model in step 1 and a pole placement method; and step 3: performing an active disturbance rejection roll control by using the active disturbance rejection controller in step 2. The present disclosure solves the problem of a stable control of the vehicle under the disturbance of the complex sea conditions.

A system includes an outboard motor, an actuator, a pitch angle sensor, a trim angle sensor, and a controller to obtain at least either of a pitch angle of a watercraft and an angular velocity of the pitch angle, and to obtain a trim angle of the outboard motor. The controller is configured or programmed to selectively set either a trim-up direction or a trim-down direction as a trim direction based on the trim angle of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle. The controller is configured or programmed to control the actuator to cause the outboard motor to perform a trim motion in the trim direction.

A system includes an outboard motor including a lift actuator, a pitch angle sensor, a lift position sensor, and a controller configured or programmed to obtain at least either of a pitch angle of a watercraft and an angular velocity of the pitch angle. The controller is configured or programmed to obtain a lift position of the outboard motor, and controller selectively set either a lift-up direction or a lift-down direction as a lift direction based on the lift position of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle. The controller is configured or programmed to control the lift actuator to cause the outboard motor to perform a lift motion in the lift direction.