公开(公告)号：US11169525B2

公开(公告)日：2021-11-09

申请号：US16710690

申请日：2019-12-11

Applicant: ABB Schweiz AG

Inventor： Juha Orivuori ,  Kalevi Tervo ,  Andrei Korsström

IPC: G05D1/02 ,  B63B39/08 ,  B63H20/00 ,  B63H25/38 ,  B63B79/15 ,  B63B79/20

Abstract: Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.