SYSTEMS AND METHODS FOR CONFIGURING ACTUATORS OF A MARINE VESSEL

Description

FIELD

The present disclosure generally relates to systems and methods for configuring actuators of a marine vessel.

BACKGROUND

The following U.S. Patent Documents are incorporated herein by reference, in entirety:

U.S. Pat. No. 6,583,728 discloses a trim tab position monitor having a sensing circuit connected in signal communication with a stator of a motor having a rotor which is operatively connected to the trim tab for moving the trim tab relative to a marine vessel, a direction determining circuit connected in electrical communication with the sensing circuit, a counter connected in electrical communication with the sensing circuit, and a signal output device connected in electrical communication with the counter. The sensing circuit is configured to provide a first output signal which is representative of an electrical characteristic of the motor. The direction determining circuit is configured to provide a second output signal which is representative of a rotational direction of the rotor of the motor. The counter is configured to provide a third output signal which is representative of a preselected number of magnitude changes of the first output signal of the motor. The signal output device provides a fourth output signal which is representative of the position of the trim tab relative to the motor.

U.S. Pat. No. 9,278,740 discloses a system for controlling an attitude of a marine vessel having first and second trim tabs includes a controller having vessel roll and pitch control sections. The pitch control section compares an actual vessel pitch angle to a predetermined desired vessel pitch angle and outputs a deployment setpoint that is calculated to achieve the desired pitch angle. The roll control section compares an actual vessel roll angle to a predetermined desired vessel roll angle, and outputs a desired differential between the first and second deployments that is calculated to maintain the vessel at the desired vessel roll angle. When the controller determines that the magnitude of a requested vessel turn is greater than a first predetermined threshold, the controller decreases the desired differential between the first and second deployments, and accounts for the decreased desired differential deployment in its calculation of the first and second deployments.

U.S. Pat. No. 9,598,160 discloses a trim system for positioning a trimmable marine apparatus with respect to a marine vessel having a propulsion system powered by an engine. The trim system includes a trim device having a first end coupled to the vessel and a second, opposite end coupled to the trimmable marine apparatus. The trim device is moveable to adjust a position of the trimmable marine apparatus with respect to the vessel. A controller selectively controls the trim system in an automatic mode, in which the controller sends signals to actuate the trim device automatically as a function of one of a speed of the vessel and a speed of the engine. An operator input device selectively controls the trim system in a manual mode, in which the controller sends signals to actuate the trim device in response to commands from the operator input device. An operating speed sensor senses a speed of the propulsion system. In response to a determination by the controller that the operating speed has crossed a given operating speed threshold, the controller subsequently operates the trim system in one of the automatic and manual modes depending on whether the operating speed increased or decreased as it crossed the operating speed threshold and whether the trim system was operating in the automatic or manual mode as the operating speed crossed the operating speed threshold.

U.S. Pat. No. 11,372,411 discloses a steering system on a marine vessel includes at least one propulsion device configured to propel the marine vessel, a steering actuator that rotates the at least one propulsion device to effectuate steering, at least one trim device coupled to the marine vessel and moveable to adjust a running angle thereof, and at least one trim actuator configured to move the trim device so as to effectuate adjustment of the running angle. A control system is 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 instructions. In various embodiments, the steering instruction may be an operator input at a steering input device, such as a steering wheel, or may be an output by an autonomous navigation system. The control system then controls the steering actuator to the rotate the at least one propulsion device based on the desired turn rate and/or the desired turn angle, and to control the trim actuator to move the at least one trim device based on the desired roll angle so as to effectuate the steering instruction.

SUMMARY

In accordance with some embodiments of the disclosed subject matter, a system for configuring actuators of a marine vessel is provided, the system comprising: a plurality of actuators, wherein each of the plurality of actuators comprises: a first end coupled to the marine vessel; and a second end coupled to an actuated device; and one or more hardware processors configured to: cause the plurality of actuators to be actuated, thereby causing the actuated device to move; receive, for each of the plurality of actuators, a value indicative of a load on the actuator at a particular time; and set a parameter of at least one actuator of the plurality of actuators to a value that is expected to result in a more balanced load among the plurality of actuators.

In some embodiments, each of the plurality of actuators is an electric linear actuator.

In some embodiments, each of the plurality of actuators comprises: a housing having a proximate end and a distal end, wherein the proximate end of the housing is closer to the first end of the actuator than to the second end of the actuator; and a rod configured to extend and retract with respect to the housing, wherein a distal end of the rod is closer to the second end of the actuator than to the first end of the actuator, and wherein a distance between the distal end of the rod and the first end of the actuator increases as the rod extends with respect to the housing.

In some embodiments, the actuated device comprises a trim tab.

In some embodiments, actuation of the plurality of actuators moves a trim plane of the trim tab in a range of positions between a trimmed-up position and a trimmed-down position. In some embodiments, the parameter corresponds to a home position of the at least one actuator.

In some embodiments, the home position comprises a retraction home position.

In some embodiments, the parameter is a retraction home position offset value.

In some embodiments, the parameter corresponds to an actuation speed of the at least one actuator.

In some embodiments, the actuation speed is an extension speed of the at least one actuator.

In some embodiments, the one or more hardware processors are further configured to: adjust a voltage supplied to the at least one actuator during extension, thereby adjusting the extension speed of the at least one actuator; and set the parameter of the at least one actuator based on the adjusted voltage.

In some embodiments, causing the actuators to be actuated comprises causing the plurality of actuators to extend from a retraction home position.

In some embodiments, the value indicative of the load on the actuator at the particular time comprises a measurement of electric current drawn by the actuator at the particular time, and wherein the one or more hardware processors are further configured to: measure the electric current drawn by each actuator of the plurality of actuators at a plurality of positions between a retracted position and an extended position.

In some embodiments, the value indicative of the load on the actuator at the particular time is a load metric, and wherein the one or more hardware processors are further configured to: (a) measure a load metric value for each actuator of the plurality of actuators at each of a plurality of positions of the actuated device; (b) compare at least one load metric value for the at least one actuator to a corresponding load metric value for another actuator of the plurality of actuators measured at a corresponding position; (c) adjust the parameter based on the comparison; (d) repeat (a) to (c) until a parameter value that is expected to most evenly balance load among the plurality of actuators is identified; and set the parameter of the at least one actuator to the identified parameter value.

In some embodiments, the one or more hardware processors are further configured to: cause a value in memory associated with a controller to be set to the value that is expected to result in a more balanced load among the plurality of actuators, thereby setting the parameter of the at least one actuator, wherein the controller is configured to control actuation of the at least one actuator based on the value in memory.

In some embodiments, the value indicative of load is based on one or more of the following: an electric current drawn by the respective actuator at the particular time; a voltage supplied to the respective actuator at the particular time; a pressure in a hydraulic line used to actuate the respective actuator at the particular time; and an output of a load cell configured to measure a load on the respective actuator at the particular time.

In accordance with some embodiments of the disclosed subject matter, a method for configuring actuators of a marine vessel is provided, the method comprising: causing each a plurality of actuators to be actuated, thereby causing an actuated device coupled to the marine vessel to move, wherein each of the plurality of actuators comprises: a first end coupled to the marine vessel; and a second end coupled to the actuated device; receiving, for each of the plurality of actuators, a value indicative of a load on the actuator at a particular time; and setting a parameter of at least one actuator of the plurality of actuators to a value that is expected to result in a more balanced load among the plurality of actuators.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is described with reference to the following drawings.

FIG. 1 shows an example of a propulsion system on a marine vessel in accordance with some embodiments of the disclosed subject matter.

FIG. 2 shows an example of hardware that can be used to implement a control system, and an actuator system in accordance with some embodiments of the disclosed subject matter.

FIG. 3A1 shows an example of a trim tab mounted at a transom of a marine vessel and controlled via multiple actuators mounted between the transom and the trim tab in accordance with some embodiments of the disclosed subject matter.

FIG. 3A2 shows another view of the trim tab mounted at the transom in accordance with some embodiments of the disclosed subject matter.

FIG. 3B1 shows an example of a different trim tab mounted at a transom of a marine vessel and controlled via multiple actuators mounted between an underside of a portion of the transom and the trim tab in accordance with some embodiments of the disclosed subject matter.

FIG. 3B2 shows another view of the trim tab of FIG. 3B1 mounted at the transom beneath an underside of the transom in accordance with some embodiments of the disclosed subject matter.

FIGS. 4A to 4C show examples of multiple linked actuators in various configurations in accordance with some embodiments of the disclosed subject matter.

FIG. 5 shows an example of actuator load values of uncalibrated actuators during extension and retraction.

FIG. 6 shows an example of actuator voltage, actuator current, and actuator position of a pair of actuators during extension and retraction that have not been calibrated as a pair.

FIG. 7 shows an example of a process for configuring potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

FIG. 8 shows an example of a process for adjusting an offset of one or more potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

FIG. 9 shows an example of a process for adjusting an actuation speed of one or more potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

DETAILED DESCRIPTION

An angle of trimmable devices of a marine vessel, such as trim tabs, can be used to change the operating characteristics of the vessel. For example, an operator and/or control system of a marine vessel can change the trim angle of a trim tab(s) (and/or other trimmable device) as the velocity, pitch, yaw, roll, etc., of the vessel changes to impact the posture of the vessel in a particular manner. In such an example, the angle of trim tabs can be adjusted to maintain an appropriate angle of the vessel with respect to the water as the vessel achieves a planing speed and as it increases its velocity over the water while on plane. An operator of the vessel and/or control system of the vessel can command a change in trim angle (e.g., using a keypad, button(s), etc.) to change the trim angle(s) until a desired posture, handling, and/or feel of the vessel over the water is achieved.

Actuators can be used on marine vessels for various purposes, and for moving various devices, including trim tabs, a trim position of a trimmable marine drive or other trimmable device, a steering position of a steerable marine drive or other steerable device (such as a rudder), a swim platform, a jack plate, surf tabs, hatches, etc. While some moveable devices of a marine vessel can be controlled using a single electric actuator, mechanical loads of some devices can exceed the rating of a single electric actuator. For example, trim tabs on larger power boats are subject to a greater load that can exceed the rating of a single actuator (e.g., a single electric actuator). For such trim tabs, multiple actuators can be installed in parallel to control the angle of trim tabs that are subject greater to greater load, which can split the forces between the multiple actuators. Multiple actuators can be installed on each trim tab, which can be mounted to the transom on the port and starboard sides. Positioning of the actuators in parallel with the hull and in parallel with each other is generally desirable for maximizing performance and balancing. However, correct position generally requires the transom to be flat, and for the installer to correctly position the actuators in parallel. Unfortunately, misalignment during install can occur due to warp in the transom, tolerance stack up of components of the actuators, among other factors. This can cause the load acting on the actuators to be mismatched, potentially resulting in one actuator of a pair of actuators for a trim tab being heavily loaded, and/or a push-pull scenario in which an actuator is effectively pushing or pulling the trim tab with respect to the other rather than working in concert (e.g., due to difference in actuation speed between the two actuators).

In some embodiments, mechanisms described herein can be used to match an alignment and/or speed of the multiple actuators, which can result in a more evenly balanced load on each actuator to mitigate the variation and misalignment that can occur due to variation between actuators when received from an original equipment manufacturer, misalignment that occurs during installation of the actuators (e.g., due to variations in the surface of the trim tab and/or transom), and/or variations in alignment and/or function that occur over time as the actuators are used, which can reduce wear caused by load mismatch, and can improve the useful product life of the actuators. In some embodiments, mechanisms described herein can use a measurement of mechanical load on each actuator at various positions and/or during actuation (e.g., during extension or retraction of a trim tab) to determine whether the load is balanced between the actuators used to actuate a particular device (e.g., a trim tab). For example, for trim tabs that are actuated using a pair of electric linear actuators, mechanisms described herein can measure current supplied to each actuator at various positions (e.g., during extension and/or retraction of the trim tab), which can be related to the load on each actuator (e.g., an electric actuator can draw more current as the load on the actuator increases), such that the current drawn by a matched pair of actuators can be expected to be about equal when the load is balanced between the pair of actuators, while a mismatch in current indicates that one actuator is under higher load than the other.

In some embodiments, mechanisms described herein can be used to adjust one or more parameters of an actuator(s) in a set of linked actuators (e.g., to calibrate the set of linked actuators) used to control actuation of a device (e.g., a single trim tab, a swim platform, etc.) to mitigate unbalanced load across the actuators caused by misalignment, tolerance stack up, and/or any other cause of imbalance. In some embodiments, mechanisms described herein can be used to calibrate a set of linked actuators at any suitable time(s), such as after installation to account for misalignment due to installation, when unloaded (e.g., as part of an installation process, during routine maintenance, after replacement of an actuator(s) and/or actuating device, etc.) in still water or out of water to account for differences in actuation speed, and/or when loaded (e.g., as part of an installation process, during routine maintenance, after replacement of an actuator(s) and/or actuating device, etc.) in relatively calm water and at a speed within a predetermined range of speeds.

In some embodiments, mechanisms described herein can be used to calibrate a set of linked actuators to mitigate uneven loading due to misalignment between the actuators (e.g., due to differences in alignment and/or function that occur over time as the actuators are used). For example, in some embodiments, after installation, a load metric (e.g., current drawn by each actuator) can be measured as the set of actuators are controlled to extend and/or retract, and a difference in load metric between the actuators can indicate whether load is not being evenly shared among the set of actuators. In a more particular example, if the current drawn by one actuator of a pair of actuators is significantly higher, mechanisms described herein can introduce a small position offset to the position of an actuator of the pair to more evenly distribute the load. After adjusting the position offset, mechanisms described herein can measure the current being drawn by each actuator again (e.g., in connection with extending and retracting the pair of actuators), and can determine whether the actuators are now more balanced.

As a yet more particular example, mechanisms described herein can extend a pair of actuators, and while extending, can measure the current draw by each actuator at position intervals of about 5% (e.g., at 0%, 5%, 10%, ..., 90%, 95%, 100%). The current draw of the actuators can be compared (e.g., at a particular position(s)) to determine whether the current draw of a first actuator of the pair is significantly higher or lower than the current draw of a second actuator. If it is lower, a small position offset (e.g., about 1%) can be introduced to extend the first actuator. If it is higher, a small position offset (e.g., about 1%) can be introduced to extend the second actuator. After introducing the offset, the actuators can be extended again measure the current draw by each actuator at position intervals of about 5% (e.g., if the first actuator was extended, measurements can be taken at 0%, 5%, 10%, etc., for the second actuator and at 1%, 6%, 11%, etc., for the first actuator), and the current draw of the actuators can be compared again to determine whether the current draw is more balanced. If balance has improved, mechanisms described herein can introduce another incremental offset to the same actuator, and retest again until the current draw on the actuators starts to show an imbalance in the opposite direction. In response to the increase in imbalance, mechanisms described herein can revert the offset of the actuator that has been adjusted to the previous offset, which can be expected to be the offset that results in the most balanced current draw. This process can then be repeated for retraction, rather than extension.

In some embodiments, mechanisms described herein can be used to calibrate a set of linked actuators to mitigate uneven loading due to differences in extension and/or retraction speed of the actuators (e.g., due to tolerance stack up, due to differences in alignment and/or function that occur over time as the actuators are used, etc.). As described above, in some embodiments, the extension and/or retraction speed can be calibrated when the actuated device is the only load (e.g., for a trim tab, when the trim tab is out of the water), when the actuated device is loaded with a relatively small and relatively static load (e.g., for a trim tab, when the trim tab is in still water), and/or when the actuated device is loaded with a larger and/or more dynamic load (e.g., for a trim tab, when the vessel on which the trim tab is installed is in the water and underway). For example, in some embodiments, after installation, a load metric (e.g., current drawn by each actuator) can be measured as the set of actuators are extended and/or retracted, and a difference in load metric between the actuators can indicate whether load is being unevenly shared among the set of actuators during extension and/or retraction. In a more particular example, if the current drawn by one actuator of a pair of actuators is significantly higher during a portion of extension and/or retraction, mechanisms described herein can introduce a small offset to the extension and/or retraction speed of an actuator of the pair to more evenly distribute the load. After adjusting the speed, mechanisms described herein can measure the current being drawn by each actuator again (e.g., in connection with extending and retracting the pair of actuators), and can determine whether the actuators are now more balanced.

As a yet more particular example, mechanisms described herein can extend a pair of actuators, and while extending, can measure the current draw by each actuator at predetermined time and/or position intervals. The current draw of the actuators can be compared (e.g., at particular position(s) and/or over the entire range of motion) to determine whether the current draw of a first actuator of the pair is significantly higher or lower than the current draw of a second actuator during extension. If it is lower, a small change in extension speed (e.g., a small increase in voltage supplied to the first actuator during extension, a small decrease in voltage supplied to the second actuator during extension) can be introduced to the first actuator and/or second actuator to cause the first actuator to extend more quickly and/or to cause the second actuator to extend more slowly. If it is higher, a small change in extension speed (e.g., a small decrease in voltage supplied to the first actuator during extension, a small increase in voltage supplied to the second actuator during extension) can be introduced to the first actuator and/or second actuator to cause the first actuator to extend more slowly and/or to cause the second actuator to extend more quickly. After adjusting the speed, the actuators can be extended while again measuring the current draw by each actuator at predetermined time and/or position intervals, and the current draw of the actuators can be compared again to determine whether the current draw is balanced (e.g., a difference is less than a threshold) or more balanced. If the load is balanced, mechanisms described herein can set the extension speed of each actuator based on the current speeds. Additionally or alternatively, if the balance has improved, mechanisms described herein can introduce another incremental adjustment in extension to the actuator(s), and retest again until the current draw on the actuators starts to show an imbalance in the opposite direction. In response to the increase in imbalance, mechanisms described herein can revert the speed(s) of the actuator(s) to the previous speed(s), which can be expected to be the combination of speeds that results in the most balanced current draw. This process can then be repeated for retraction, rather than extension. In some embodiments, if balance cannot be achieved during extension and/or retraction, mechanisms described herein can cause a report of a fault to be provided to the controller (e.g., which can present an alert in a user interface indicating the occurrence of the fault).

FIG. 1 shows an example of a schematic representation of a propulsion system on a marine vessel in accordance with some embodiments of the disclosed subject matter. FIG. 1 shows a marine vessel 10 equipped with a propulsion system 20 on marine vessel 10 configured in accordance with some embodiments of the disclosed subject matter. In some embodiments, propulsion system 20 can be configured to operate, for example, in a conventional mode (e.g., using a steering wheel and throttle/shift levers), in joysticking mode (e.g., in which a joystick is operated by a user to control vessel movement within an x/y plane), and/or any other suitable mode(s). In some embodiments, propulsion system 20 can include first and second propulsion devices 12a, 12b that produce first and second thrusts T1, T2 to propel vessel 10. First and second propulsion devices 12a, 12b are illustrated as outboard motors, but can alternatively be inboard motors, stern drives, jet drives, pod drives, any other suitable propulsion device, or combinations thereof. Each propulsion device can be provided with a powerhead 14a, 14b operatively connected to a transmission 16a, 16b, in turn, operatively connected to a propeller 18a, 18b.

In some embodiments, propulsion system 20 can include first and second trim tabs 42a, 42b, each of which can be actuated using multiple actuators (e.g., a set of actuators mechanically linked via connections to the same trim tab). For example, in FIG. 1, a first set of actuators 44a, 44b can be used to actuate first trim tab 42a, and a second set of actuators 44c, 44d can be used to actuate second trim tab 42b. In some embodiments, a posture (e.g., a rotational position) of trim tabs 42a, 42b can be controlled by a pair (or more) of actuators. For example, first set of actuators 44a, 44b can extend and/or retract together to adjust a posture of a corresponding trim tab. Note that although mechanisms described herein are generally described in connection with adjusting a posture of trim tabs, mechanisms described herein can be used in connection with any suitable actuatable device that is actuated using multiple actuators concurrently, such as an adjustable jack plate of a marine vessel, an adjustable swim platform of a marine vessel, a steerable propulsion device, an adjustable (e.g., retractable) top, etc.

In some embodiments, vessel 10 can also house various control elements that comprise part of the marine propulsion system 20. For example, marine propulsion system 20 can comprise an operation console 22 in signal communication (e.g., via a controller area network (CAN) bus) with a controller 24, such as a command control module (CCM), with propulsion control modules (PCM) 26a, 26b associated with the respective propulsion devices 12a, 12b, and with actuators 44a to 44d (e.g., controllers and/or other suitable components of actuators 44a to 44d). Each of controller 24, PCMs 26a, 26b, and/or actuators 44a to 44d can include memory and a programmable processor. For example, each control module 24, 26a, 26b and/or actuator 44a to 44d can include one or more processors communicatively connected to a respective storage system comprising a computer-readable medium that includes volatile and/or nonvolatile memory upon which computer-readable code and data can be stored. Additionally or alternatively, in some embodiments, a processor(s) of one or more of control modules 24, 26a, 26b and/or actuator 44a to 44d can be communicatively connected to a shared storage system comprising a computer-readable medium that includes volatile and/or nonvolatile memory upon which computer-readable code and data can be stored.

Note that although mechanisms described herein are generally described in connection with an internal combustion engine (ICE) propulsion system that includes a powerhead implemented using an ICE engine, mechanisms described herein can be used in connection with a propulsion system that includes any other suitable powerhead(s), such as one or more electric motors, or any suitable combination of powerheads. For example, propulsion devices 12a, 12b can be replaced by, or used in combination with, one or more propulsion devices that produce thrust to propel vessel 10 using an electric motor, such as an electric outboard motor, electric inboard motor, electric stern drive, electric jet drive, electric pod drive, any other suitable propulsion device, or combinations thereof, that is implemented using an electric motor (e.g., which can be implemented as a motor that is directly connected to a propulsor shaft without a transmission, such as transmission 16a, 16b).

In some embodiments, operation console 22 can include any suitable number of user input devices, such as, a keypad 28, a joystick 30, a steering wheel 32, one or more throttle/shift levers 34, etc., and any suitable number of output devices, such as a display 29, a heads-up display (HUD) (not shown), one or more speakers (not shown), one or more sound producing devices (e.g., an air horn(s), a bell(s), a whistle(s), etc.), etc. In some embodiments, each of the input devices can be configured to input commands to controller 24, which can, in turn, communicate control instructions to first and second propulsion devices 12a, 12b by communicating with PCMs 26a, 26b, and/or any suitable combination of actuators 44a to 44d. In some embodiments, steering wheel 32 and throttle/shift lever(s) 34 can function in a conventional manner, such that rotation of steering wheel 32, for example, activates a transducer that provides a signal to controller 24 regarding a desired direction of the vessel 10. Controller 24 can, in turn, send signals to PCMs 26a, 26b (and/or a thrust vector module(s) (TVMs), or additional modules if provided), which in turn can activate one or more steering actuators to achieve desired orientations of propulsion devices 12a, 12b. Additionally or alternatively, in some embodiments, controller 24 can send signals to actuators 44a, 44b and/or actuators 44c, 44d, which in turn can actuate (e.g., extend or retract) to achieve a desired posture of trim tabs 42a and/or 42b. In some embodiments, propulsion devices 12a, 12b can be independently steerable about a respective steering axis, and/or trim tabs 42a, 42b can be independently steerable about a respective rotational axis. In some embodiments, one or more inputs of operation console 22 (and/or any other suitable input(s) associated with propulsion system 20) can be used to manually control a position of trim tabs 42a, 42b. Additionally or alternatively, in some embodiments, a position of trim tabs 42a, 42b can be automatically controlled based on signals from one or more sensors (e.g., speed, pitch, roll, steering angle, yaw rate, etc.).

In some embodiments, throttle/shift lever(s) 34 can send signals to controller 24 regarding a desired gear (e.g., forward, reverse, or neutral) of transmissions 16a, 16b and desired rotational speed (and/or any other value indicative of a thrust command) of powerheads 14a, 14b of propulsion devices 12a, 12b. Controller 24 can, in turn, send signals to PCMs 26a, 26b, which in turn activate electromechanical actuators in transmissions 16a, 16b and powerheads 14a, 14b for shift and throttle, respectively. A manually operable input device that facilitates control along multiple degrees of freedom, such as joystick 30, can also be used to provide signals to controller 24. In some embodiments, joystick 30 can be used to allow an operator of vessel 10 to manually maneuver vessel 10 along a particular degree of freedom, such as to achieve lateral translation or rotation of vessel 10, or along multiple particular degrees of freedom, such as to achieve translation along a direction other than fore or aft (e.g., a direction not aligned with a heading of the vessel) or simultaneous translation and rotation of vessel 10.

Additionally or alternatively, a steering input(s) can be provided by an automatic steering control system associated with marine vessel 10, such as a heading or waypoint control system, or an autonomy system configured to perform autonomous and/or advanced operator assistance controls, such as automatically guiding vessel 10 during docking, automatically guiding vessel 10 during trailer loading or unloading, automatically avoiding collisions with objects via a virtual bumper or buffer zone, autonomous navigation through areas that include other vessels and/or other obstacles, etc. Such systems can use and/or require a perception system (not shown) with a relatively accurate ability to identify objects in an environment of vessel 10, for example, using multiple proximity sensors and/or depth sensors. Additionally, such systems can use and/or require a navigation system (not shown) with a relatively accurate ability to determine a location and/or movements of the vessels, for example, using one or more of a GPS receiver(s), an IMU(s), an INS, etc.

In some embodiments, a sensor(s) can provide a signal(s) to controller 24 regarding operation of one or more of actuator(s) 44a to 44d and/or a position of one or more of trim tabs 42a, 42b, such a signal indicative of load on an actuator, a position of the actuator, and/or an angle of a trim tab, which can correspond to an angle (or other suitable measure of rotational displacement) between a reference position (e.g., parallel to a bottom of a hull of vessel 10) and a current position of the trim tab.

In some embodiments, control data (e.g., instructions, commands, measurements, feedback, etc.) can be communicated to and/or from controller 24 (and/or to any other suitable controller), which can be via any suitable wired or wireless communication technique(s), such as via a dedicated communication bus, wireless transmission protocols (e.g. Bluetooth, Bluetooth Low Energy (BLE), ZigBee, ultra-wideband (UWB), etc.), a CAN bus comprising part of the vessel network, etc. Note that the dashed connection lines in FIG. 1 are meant to show only that the various control elements are capable of communicating with one another, and do not necessarily represent actual wiring connections between the control elements, nor do they represent the only paths of communication between the elements.

In some embodiments, output devices, such as display 29, speakers, etc., can be configured to present (e.g., visually, audibly, etc.) any suitable data, information, etc., received from controller 24, from another controller or processor, and/or generated based on data and/or information received from controller 24, another controller, and/or processor. For example, display 29 can present information about speed, heading, trim tab position(s), actuator position, actuator load, etc. In some embodiments, display 29 can be any suitable display, such as a multi-function display (MFD). In some embodiments, display 29 can be used to present a user interface, which can be implemented as a touchscreen or display that is capable of receiving input via a touchscreen. In some embodiments, one or more other input devices can be used to interact with a user interface (e.g., a graphical user interface) presented by display 29, such as a keypad (e.g., keypad 28), a keyboard, a track ball, a track pad, any other suitable user input device, and/or suitable combination of user input devices. In some embodiments, vessel 10 can include multiple displays 29, which can be integrated into operation console 22, integrated into another portion of vessel 10, and/or mechanically mounted to operation console 22 or another portion of vessel 10.

In some embodiments, each processor (e.g., a processor of one or more of control modules 24, 26a, 26b, a processor associated with steering wheel 32, joystick 30, operation console 22, actuator(s) 44a to 44d, etc.) can access computer-readable code and, upon executing the code, carry out one or more functions, such as measuring a load metric indicative of load on an actuator (e.g., during actuation, at a particular position, etc.), adjusting and/or setting a parameter of an actuator (e.g., a home position(s), an extension speed, a retraction speed) to a value that balances load on a set of linked actuators, etc., as described in more detail below.

In some embodiments, mechanisms described herein can be configured to use information indicative of actuator load (e.g., based on a current measurement, based on a voltage measurement, etc.) to determine how and/or how much to adjust a parameter of an actuator(s) of a set of linked actuators to more evenly balance load. For example, as described below in connection with FIGS. 7 to 9, mechanisms described herein can measure a load metric at various actuator positions and/or using various actuator parameters to determine a set of actuator parameters that sufficiently balances load between a set of linked actuators (e.g., dual actuators used to actuate a trim tab).

FIG. 2 shows an example of hardware 200 that can be used to implement a control system 220 and an actuator system 240 in accordance with some embodiments of the disclosed subject matter. In some embodiments, control system 220 can include a processor 224, a display 226, one or more inputs 228, one or more communication system(s) 230, memory 232, and/or one or more output devices 234. In some embodiments, processor 224 can be any suitable hardware processor or combination of processors, such as a central processing unit (CPU), an accelerated processing unit (APU), a graphics processing unit (GPU), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microcontroller (μC) (e.g., which can include memory, such as memory 232), etc. In some embodiments, display 226 can include any suitable display devices (e.g., display 29), such as a computer monitor, a touchscreen, a television, etc. In some embodiments, inputs 228 can include any suitable input devices and/or sensors that can be used to receive user input, such as a throttle lever (e.g., throttle lever 34), a joystick (e.g., joystick 30), a keyboard, a mouse, a touchscreen, a microphone, etc. In some embodiments, control system 220 can omit display 226 and/or inputs 228 (e.g., where control system 220 is an embedded system that is not configured for direct user interaction).

In some embodiments, control system 220 can receive information indicative of an actuator position command and/or trim tab position command, cause a set of actuators to be actuated based on the actuator position command and/or trim tab position command, measure and/or receive a signal indicative of load on each actuator of the set of actuators during actuation and/or at predetermined actuation positions, determine a value indicative of a degree of load imbalance between at least a pair of actuators in the set of actuators (e.g., a calibration value indicative of load imbalance), and adjust a parameter (e.g., a home position, an extension speed, a retraction speed) of at least one of the actuators in a direction that is expected to improve balance between the pair of actuators and/or set of actuators. In some embodiments, control system 220 can be a control system of a marine vessel (e.g., processor 224 can be used to implement controller 24 described above in connection with vessel 10). Alternatively, in some embodiments, control system 220 can include an external computing device (e.g., a laptop computer, tablet computer, etc. being used by a technician during installation and/or maintenance of actuators) in communication with at least a portion of a propulsion system of a vessel.

In some embodiments, communication system(s) 230 can include any suitable hardware, firmware, and/or software for communicating information over a communication network 214 and/or any other suitable communication networks. For example, communication system(s) 230 can include one or more transmitters, one or more receivers, one or more transceivers, one or more communication chips and/or chip sets, etc., that can be used to establish a wired and/or wireless communication link. In a more particular example, communication system(s) 230 can include hardware, firmware, and/or software that can be used to establish a direct or indirect wired connection and/or a direct or indirect wireless connection, such as a CAN bus connection, a Bluetooth connection, Bluetooth Low Energy (BLE) connection, a ZigBee connection, a Wi-Fi connection, a cellular connection (e.g., an uplink connection, a downlink connection, or a sidelink connection), an ultra-wideband (UWB) connection, an Ethernet connection, etc.

In some embodiments, memory 232 can include any suitable storage device or devices that can be used to store instructions, values, etc., that can be used, for example, by processor 224 to instruct at least a pair of actuators in a set of linked actuators to move a particular actuator position, to communicate with one or more components of actuator system 240 via communications system(s) 230, etc. Memory 232 can include any suitable volatile memory, non-volatile memory, storage, or any suitable combination thereof. For example, memory 232 can include random access memory (RAM), read-only memory (ROM), electronically erasable programmable read-only memory (EEPROM), one or more flash drives, one or more hard disks, one or more solid state drives, one or more optical drives, etc.

In some embodiments, memory 232 can have encoded thereon a computer program for controlling operation of control system 220. In such embodiments, processor 224 can receive information from an actuator and/or a device associated with an actuator (e.g., a sensor, a controller, etc.), can receive an actuator and/or trim tab command from an input device and/or any other suitable device (e.g., an autonomy system), monitoring a load on each of a set of linked actuators during actuation and/or at predetermined actuation positions, adjusting a parameter of at least one of the actuators to more evenly balance load on the set of linked propulsion devices, to execute at least a portion of a process for configuring potentially imbalanced actuators of a marine vessel, such as processes described below in connection with FIG. 6, etc.

In some embodiments, communication network 214 can be any suitable communication network or combination of communication networks. For example, communication network 214 can include a wired network, a Wi-Fi network (which can include one or more wireless routers, one or more switches, etc.), a peer-to-peer network (e.g., a Bluetooth network, a UWB network), a cellular network (e.g., a 3G network, a 4G network, a 5G network, etc., complying with any suitable standard(s), such as CDMA, GSM, LTE, LTE Advanced, 5G NR, etc.), etc. In some embodiments, communication network 214 can include one or more portions of a control area network (CAN), a local area network (LAN), a wide area network (WAN), a public network (e.g., the Internet, which may be part of a WAN and/or LAN), any other suitable type of network, or any suitable combination of networks. Communications links shown in FIG. 2 can each be any suitable communications link or combination of communications links, such as wired links, fiber optic links, Wi-Fi links, Bluetooth links, UWB links, cellular links, etc.

In some embodiments, actuator system 240 can include a processor 244, actuation components 246, one or more sensors 248, one or more communication system(s) 250, and/or memory 252. In some embodiments, processor 244 can be any suitable hardware processor or combination of processors, such as a CPU, an APU, a GPU, an FPGA, an ASIC, a μC (e.g., which can include memory, such as memory 252), etc.

In some embodiments, actuation components 246 can include any suitable device(s) and/or component(s) that can be configured to control a position of an actuatable device (e.g., trim tab 42a or 42b, a jack plate, a swim platform, etc.). For example, actuation components 246 can include electromechanical components and/or hydraulic components that can be used to adjust a length (and/or other suitable dimension) of an actuator that is configured to actuate the actuatable component. For example, actuation components 246 can be implemented as pure electric actuators (e.g., including only electric and mechanical components), hydraulic over electric actuators, direct driven hydraulic actuators, and/or any other actuator that can be used to implement a steer-by-wire steering system. As a more particular example, actuation components 246 can include a spindle that extends along a longitudinal axis, a. rod that is coaxially coupled to the spindle (e.g., using a ball nut, roller screw, acme nut, etc.), a motor configured to rotate the spindle (e.g., via a gear or gear chain). In such an example, the rod can be extended along the longitudinal axis in response to rotation of the spindle, due to the coupling between the rod 16 and the spindle 14 provided by the ball nut, roller screw, or acme nut, which can increase a length between two ends of an actuator, which can alter a relationship between two devices coupled to opposite ends of the actuator (e.g., a rotational position of a trim tab with respect to a hull of a vessel).

In some embodiments, sensor(s) 248 can include any suitable sensor device configured to sense a value indicative of operation of actuator system 240. For example, sensor(s) 248 can include a position sensor configured to sense a position of one or more of actuation components 246, such as a rod. As a more particular example, the position sensor can be a linear inductive sensor having a linear axis oriented parallel to a longitudinal axis along which the rod is extended, and the linear inductive sensor can generate a value indicative of an actual position of the rod (e.g., a position of an end of the rod closest to the spindle). As another example, sensor(s) 248 can include a sensor configured to sense a value indicative of a load on the actuator, such as an amount of current drawn at a particular position of the actuator, a voltage drop across a portion of the actuator system, a pressure in a hydraulic or pneumatic line used to drive an actuation component, a load cell device coupled to an actuation component(s), etc. In a more particular example, sensor(s) 248 can include a current sensor. As another more particular example, sensor(s) 248 can include a voltage sensor. As yet another more particular example, sensor(s) 248 can include a pressure sensor.

In some embodiments, communication system(s) 250 can include any suitable hardware, firmware, and/or software for communicating information over communication network 214 and/or any other suitable communication networks. For example, communication system(s) 250 can include one or more transceivers, one or more communication chips and/or chip sets, etc., that can be used to establish a wired and/or wireless communication link. In a more particular example, communication system(s) 250 can include hardware, firmware, and/or software that can be used to establish a direct or indirect wired connection and/or a direct or indirect wireless connection, such as a CAN bus connection, a Bluetooth connection, Bluetooth Low Energy connection, a ZigBee connection, a UWB connection, a Wi-Fi connection, a cellular connection (e.g., an uplink connection, a downlink connection, or a sidelink connection), an Ethernet connection, etc. In some embodiments, communication system(s) 250 can be configured to communicate directly with control system 220. For example, such a direct connection can be a two-way communication link between actuator system 240 (or a component of actuator system 240, such as a sensor included in sensor(s) 248) and control system 220, such as a wired communication link (e.g., a direct serial or parallel communication link), a Bluetooth connection, a UWB connection, a sidelink connection, etc.

In some embodiments, memory 252 can include any suitable storage device or devices that can be used to store instructions, values, etc., that can be used, for example, by processor 244 to change a posture of an actuated device (e.g., a trim tab, a jack plate, a swim deck, etc.) via actuation components 246, sense one or more values described above via sensor(s) 248, to communicate with control system 220 via communications system(s) 250, etc. Memory 252 can include any suitable volatile memory, non-volatile memory, storage, or any suitable combination thereof. For example, memory 252 can include RAM, ROM, EEPROM, one or more flash drives, one or more hard disks, one or more solid state drives, one or more optical drives, etc.

In some embodiments, memory 252 can have encoded thereon a computer program for controlling operation of actuator system 240. In such embodiments, processor 244 can execute at least a portion of the computer program to receive information from control system 220 (e.g., via communication system(s) 230), sense a value(s) indicative of a position of an actuation component(s), sense a value(s) indicative of a load on an actuator component(s), to transmit information to control system 220, to execute at least a portion of a process for configuring potentially imbalanced actuators of a marine vessel, such as processes described below in connection with FIG. 6, etc.

FIG. 3A1 and 3A2 show an example of a trim tab mounted at a transom of a marine vessel and controlled via multiple actuators mounted between the transom and the trim tab in accordance with some embodiments of the disclosed subject matter. In some embodiments, the trim tab can be implemented as a trim tab assembly 342, a first actuator 344a, and a second actuator 344b. In some embodiments, trim tab assembly 342 can include a hinge plate 342a, a trim plane 342b, and a hinge 342c that facilitates rotation between trim plane 342b and hinge plate 342a. As shown in FIG. 3A1, trim tab assembly 342 can be coupled to a transom 302 of a marine vessel (e.g., near where transom 302 meets a port sideboard 304). In some embodiments, first actuator 344a and second actuator 344b can each include a housing 346 and a rod 348, where housing 346 can include actuator components, a controller, etc., configured to extend and retract rod 348. As shown in FIG. 3A1, housing 346 can be coupled to aft-facing portion of transom 302 at a first end 306 of the actuator via a first bracket 308, and rod 348 can be coupled to trim plane 342b at a second end 310 of the actuator via a second bracket 312. In some embodiments, housing 346 can include and/or be coupled to, at first end 306, a pivot ear that is pivotably coupled to a clevis of first bracket 308 via a pin. Additionally, in some embodiments, rod 348 can include and/or be coupled to, at second end 308, a tang that is pivotably coupled to a clevis of second bracket 312 via a pin. As shown in FIG. 3A1, first bracket 308 can be directly mounted to transom 302 via a fastener(s), such as screws, and second bracket 312 can be directly mounted to trim plane 342b via a fastener(s), such as screws. In some embodiments, an actuator can be mounted and/or coupled between transom 302 and trim tab assembly 342 using any other suitable hardware and/or fastening techniques. For example, an actuator can include a clevis at first end 306 and/or second end 310, rather than the clevis being part of a bracket fastened to transom 302 or trim plane 342b.

In some embodiments, trim plane 342 can be configured to pivot (e.g., via hinge 342c) with respect to a hull of vessel 10, which can impact hydrodynamics of vessel 10 as it moves through water. For example, adjusting an angle of trim plane 342 of a starboard and/or port trim tab (e.g., trim tabs 42a and 42b) can impact a pitch and/or roll of vessel 10. In a more particular example, trim planes 342 of both trim tabs 42a and 42b can be moved to toward a maximum lowered position (sometimes referred to as a “trimmed-in” position, or a “trimmed-down” position) to encourage a change in pitch that lowers the bow relative to the stern (e.g., without having a significant impact on roll). As another more particular example, trim tab 42a can be trimmed-in relative to trim tab 42b to encourage a change in roll that raises the starboard side of the vessel relative to port, or vice versa to encourage a change in roll that raises the port side of the vessel relative to starboard (see, e.g., U.S. Pat. No. 9,278,740, which has been incorporated herein by reference). As yet another trim planes 342 of both trim tabs 42a and 42b can be moved toward a maximally raised position (sometimes referred to as a “trimmed-out” position, a “trimmed-up” position, or a zero degree position) when adjustment to pitch and/or roll of the vessel is not commanded, and/or during lower power operation (e.g., during which trim tabs may not be capable of significantly impacting a posture of the vessel due to the relatively low force that would be applied to the trim tabs at low speed).

In FIG. 3A2, trim tab assembly 342 and actuators 344a, 344b are mounted on transom 302 of vessel 10 (note that in FIG. 3A2, trim tab 344b is obscured by trim tab 344a, and not explicitly shown). As described above in connection with FIG. 1, another trim tab can be installed on an opposite side of transom 302, which is not shown in FIG. 3A2 (e.g., as it is aligned with trim tab assembly 342, and therefore obscured from view in FIG. 3A2). As shown in FIG. 3A2, trim plane 342b can be pivotable about hinge 342c. In some embodiments, a trim sensor (not shown) can be associated with each trim tab, which can measure and/or provide data indicative of a current rotational position of trim plane 342b with respect to transom 302 and/or another suitable reference (e.g., a plane defined by of an underside of the hull where the trim tab is mounted). For example, such a trim sensor can be implemented using a Hall Effect sensor that measures a rotational position of the trim plane 342b with respect to transom 302. Additionally or alternatively, an actuator position sensor (not shown) can be associated with each actuator, which can measure and/or provide data indicative of a current position of rod 348 with respect to housing 346 /or another suitable reference (e.g., a maximally retracted position, a maximally extended position, etc.). For example, an actuator position sensor can be implemented using a linear inductive sensor (e.g., as described in U.S. patent application Ser. No. 17/716,542, which is hereby incorporated by reference herein).

As shown in FIG. 3A2, trim plane 342b can be positioned from a generally horizontal position 362 (sometimes referred to herein as a trimmed-out position or a 0% deployment position), to a maximally deflected position 364 that is deflected from the home position by a calibrated maximum angle A (sometimes referred to herein as a trimmed-in position or a 100% deployment position). Note that the maximum angle A at which a trim tab is considered 100% deployed can vary based on the specifics of vessel 10 to which the trim tab is mounted (e.g., depending on the shape of the hull, the maximum power of the propulsion devices of the vessel, etc.). In some embodiments, a trim tab can be described as less deployed, more trimmed-up, or more trimmed-out, as the angle of trim plane 342b approaches a position that is generally perpendicular to transom 302 (e.g., position 362), and can be described as more deployed, more trimmed-down, or more trimmed-in as the angle of trim plane 342b deflects farther from transom (e.g., toward position 364).

In some embodiments, different trim tabs (e.g., trim tabs 42a, 42b) can be deployed to different angles to have a particular impact an attitude of vessel 10, which can result in different trim tabs having a “differential” in deployment (e.g., one trim tab can be deployed at a value from 0 to 100% that is different than a value of deployment of the other trim tab). For example, trim tab 42a can be positioned at first angle (e.g., a position of trim plane 342b shown in FIG. 3A2), and trim tab 42b can be positioned at a different angle (e.g., position 364 shown in FIG. 3A2). Such differential deployment can be achieved by extending rods of actuators 44a, 44b (e.g., rod 348) from a housing of actuators 44a, 44b (e.g., housing 346) that are coupled to trim tab 42a a lesser amount than that by which the rods of actuators 44c, 44d are extended from a housing of actuators 44c, 44d that are coupled to trim tab 42b. Such differential configurations may be desirable to counteract roll during a turn, roll caused by waves, and/or for waveshaping while vessel 10 is being used for tow sports.

In some embodiments, as described above in connection with FIGS. 1 and 2, trim tabs 42a, 42b can be controlled by a control system (e.g., controller 24 of vessel 10, a processor of an external computing device coupled to trim tab 42a and/or trim tab 42b (e.g., directly or indirectly, via a CAN bus) in response to inputs to a user input device (e.g., one or more of input devices 28, 29, 30, 32, and/or 34 described above in connection with FIG. 1, input(s) 228 described above in connection with FIG. 2). In some embodiments, user input to control trim tabs 42a, 42b can be received via a pair of physical buttons, switches, and/or keys. Additionally or alternatively, in some embodiments, user input to control trim tabs 42a, 42b can be received via a touchscreen presenting a user interface that includes virtual keys configured to control trim tabs 42a, 42b. For example, a particular button, switch, key, etc., can be configured to control a trim of a particular trim tab (e.g., trim tab 42a or trim tab 42b). In such an example, a single input (e.g., a single switch) can be configured to receive input to trim-up or trim-down a particular trim tab. Alternatively, a pair of inputs (e.g., a pair of buttons, a pair of keys, etc.) can be configured to receive input to trim-up and trim-down a particular trim tab, respectively (e.g., a first button can be configured to cause a command to trim up a particular trim tab to be generated, and the second button can be configured to cause a command to trim down the particular trim tab to be generated). In such examples, separate user interface elements can be provided to control the trim (in both direction) of the trim tabs, such that the position of multiple trim tabs can be controlled concurrently (e.g., a port trim tab can be trimmed up while a starboard trim tab is simultaneously being trimmed down). As a particular example, input can be received, via an input device, to trim up a particular trim tab, and a control system (e.g., controller 24, control system 220, processor 244, etc.) can cause the corresponding actuators to retract the rods coupled to the particular trim tab (e.g., rods 348 of actuators 344a, 344b) using any suitable technique or combination of techniques (e.g., generating a trim-up command, controlling a state of a particular switch of the actuator to cause retraction, etc.). As another more particular example, input can be received, via an input device, to trim down a particular trim tab, and a control system (e.g., controller 24, control system 220, processor 244, etc.) can cause the corresponding actuators to extend the rods coupled to the particular trim tab (e.g., rods 348 of actuators 344a, 344b) using any suitable technique or combination of techniques (e.g., generating a trim-down command, controlling a state of a particular switch of the actuator to cause extension, etc.).

FIG. 3B1 and 3B2 show an example of a different trim tab mounted at a transom of a marine vessel and controlled via multiple actuators mounted between an underside of a portion of the transom and the trim tab in accordance with some embodiments of the disclosed subject matter. In some embodiments, the trim tab can be implemented as a trim tab assembly 372, first actuator 344a, and second actuator 344b. In some embodiments, trim tab assembly 372 can include a hinge plate 372a, a trim plane 372b, and a hinge 372c that facilitates rotation between trim plane 372b and hinge plate 372a. As shown in FIG. 3B1, trim tab assembly 372 can be coupled to a transom 374 of a marine vessel having a relatively more complex hull shape at transom 374. In some embodiments, first actuator 344a and second actuator 344b can be similar to actuators 344a, 344b described above in connection with FIG. 3A1. As shown in FIG. 3B1, housing 346 of each actuator can be coupled to an underside 374a of transom 374 at first end 306 via first bracket 308, and rod 348 can be coupled to trim plane 372b at second end 310 via second bracket 312. As shown in FIG. 3B1, first bracket 308 can be directly mounted to transom 374 via a fastener(s), such as screws, and second bracket 312 can be directly mounted to trim plane 372b via a fastener(s), such as screws, though, in some embodiments, an actuator can be mounted and/or coupled between transom 374 and trim tab assembly 372 using any other suitable hardware and/or fastening techniques (e.g., as described above in connection with transom 302 and trim tab assembly 342 of FIG. 3A1). In some embodiments, trim plane 372 can be configured to pivot (e.g., via hinge 372c) with respect to a hull of vessel 10, which can impact hydrodynamics of vessel 10 as it moves through water (e.g., as described above in connection with FIG. 3A1 and 3A2). As shown in FIG. 3B1, a shape of trim plane 372b can follow a profile of an underside of the hull, and accordingly can have a more complex shape than trim plane 342c.

In FIG. 3B2, trim tab assembly 372 and actuators 344a, 344b are mounted on transom 374 of vessel 10, and are both at least partially visible in FIG. 3B2, as the first end of each actuator is slightly offset due to the shape of transom 374. As described above in connection with FIG. 1, another trim tab can be installed on an opposite side of transom 374, which is not shown in FIG. 3B2 (e.g., as it is obscured from view in FIG. 3B2 by a portion of the hull). As shown in FIG. 3B2, trim plane 372b can be pivotable about hinge 372c. In some embodiments, a trim sensor (not shown) can be associated with each trim tab, which can measure and/or provide data indicative of a current rotational position of trim plane 372b with respect to a portion of transom 374 and/or another suitable reference (e.g., a plane defined by of an underside of the hull where the trim tab is mounted).

As shown in FIG. 3B2, trim plane 372b can be positioned from a generally horizontal position 374 (sometimes referred to herein as a trimmed-out position or a 0% deployment position), to a maximally deflected position 378 that is deflected from the home position by a calibrated maximum angle A (sometimes referred to herein as a trimmed-in position or a 100% deployment position). Note that the maximum angle A at which a trim tab is considered 100% deployed can vary based on the specifics of vessel 10 to which the trim tab is mounted (e.g., depending on the shape of the hull, the maximum power of the propulsion devices of the vessel, etc.). In some embodiments, a trim tab can be described as less deployed, more trimmed-up, or more trimmed-out, as the angle of trim plane 372b moves toward a position that is generally perpendicular to transom 374 (e.g., position 376), and can be described as more deployed, more trimmed-down, or more trimmed-in as the angle of trim plane 372b deflects farther from transom 374 (e.g., toward position 378).

In some embodiments, different trim tabs coupled to transom 374 (e.g., trim tabs 42a, 42b) can be deployed to different angles to have a particular impact an attitude of vessel 10, as described above in connection with FIG. 3A1 and 3A2. Similarly, in some embodiments, trim tabs can be controlled by a control system, as described above in connection with FIG. 3A1 and 3A2.

FIGS. 4A to 4C show examples of multiple linked actuators in various configurations in accordance with some embodiments of the disclosed subject matter. In FIGS. 4A and 4B, arrows indicate a magnitude of load on each of the actuators. In some cases, a pair of actuators can both be installed between a transom and a trim plane of a trim tab assembly (e.g., as shown in FIG. 3A1 and 3B1), but differences between the actuators and/or the devices to which the actuators are mounted causes a difference in load on the actuators at a fully retracted position (sometimes referred to herein as a retraction home position). For example, as shown in FIG. 4A, actuators 444a and 444b are both coupled to a first surface at a first end 406, and coupled to a second surface at a second end 410, and are in a fully retracted position corresponding to 0% extension for each actuator. In the example of FIG. 4A, a load on actuator 444b is significantly higher than the load on actuator 444a. As described above, differences in load between linked actuators at positions that are nominally equal can be caused by differences in components of the actuators, differences in components used to couple the actuators to surfaces and/or actuated devices, and/or differences in surfaces and/or actuated devices to which the actuators are coupled. For example, tolerance stack up of components of an actuator can cause relatively small differences between two assembled actuators that are sufficient to cause mismatch in loading of the actuators at the same nominal position (e.g., 0%, 50%, 100%, etc.) and/or when extending or retracting at the same nominal speed. As another example, differences in devices to which the actuators are connected, and/or hardware used to connect the actuators, can also cause a relatively small difference between two installed actuators that is sufficient to cause mismatch in loading of the actuators. Particular examples can include warping of the transom, misalignment between the transom and trim plane, warping of the trim plane, misalignment in the location to which the ends of the actuator are connected (e.g., one actuator is attached slightly higher on the transom, or on the trim plane slightly father out from the transom).

In the example of FIGS. 4A and 4B, when both actuators 444a and 444b are at nominal positions of 0%, the load on actuator 444 b is significantly higher. For example, if the shape of the transom and/or trim tab causes the actual distance between the connection points of actuator 444b on the transom and trim plane to be longer than the actual distance between the connection points of actuator 444a on the transom and trim plane, attempting to maintain actuator 444 b at a position of 0% can cause actuator 444 b to experience a higher load than actuator 444 a at a position of 0%.

In some embodiments, mechanisms described herein can be used to adjust a retraction home position and/or an extension home position of one or more actuators of a linked set of actuators (e.g., using techniques described below in connection with FIGS. 7 to 9). In the example of FIGS. 4A and 4B, with the retraction home position of actuator 444 b adjusted to 1%, the load is more evenly balanced between actuators 444a and 444b.

As shown in FIG. 4C, in some embodiments, the extension home position of actuators 444a and 444b can be adjusted (at least initially) to reflect the offset in the retraction home position. For example, in FIG. 4C, the extension home position of actuator 444a can be offset by the same amount as the offset introduced into the retraction home position of actuator 444b, and in an opposite direction, such that the second ends 410 of actuators 444a and 444b are expected to be at a similar position when at the extension home position (as shown in FIG. 4C). As described below, in some embodiments, mechanisms described herein can measure a load metric at a fully extended position to determine whether the load on actuators 444a and 444b is sufficiently balanced at full extension (e.g., based on adjustments made to the home retraction position). For example, a different source of load mismatch may cause the load to be unbalanced with the actuators at the adjusted extension home position. Alternatively, in some embodiments, mechanisms described herein can evaluate and/or adjust a retraction home position and an extension home position separately.

FIG. 5 shows an example of actuator load values of uncalibrated actuators during extension and retraction. In FIG. 5, loads on a pair of linked actuators over time is illustrated, with time shown by position along the x-axis and load on each actuator shown by position along the y-axis. A set of linked actuators connected to a shared load of ˜500 pounds (lbs) was used to generate the information shown in FIG. 5, with load measured directly using a load cell pin to secure the housing end of each actuator (e.g., first end 306 in FIG. 3A1 and 3A2) to a first bracket (e.g., corresponding to a bracket secured to a transom for actuators configured to actuate a trim tab, such as first bracket 308), with the rod of each actuator (e.g., rod 348) secured to the shared load. The state of the actuators over time is illustrated with line 502, the measured load on the first actuator is illustrated with line 504, and the measured load on the second actuator is illustrated with line 506. In the example of FIG. 5, the extension speeds and retraction speeds of the actuators are not well-matched during extension and retraction (e.g., due to a combination of tolerance stack up and misalignment), resulting in a higher load on one actuator than the other.

In FIG. 5, the first actuator (corresponding to line 504) and second actuator (corresponding to line 506) are not synchronized during extension and retraction. During periods of extension from the retraction home position (e.g., time periods (t₀,t₁), (t₄,t₅), and (t₈,t₉)), as the second actuator extends more quickly, the second actuator starts experiencing a greater load as the second actuator pulls the rod of the first actuator via mechanical connection between the two actuators through the shared load. When the actuators reach full extension (e.g., at times t₁, t₅, and t₉), due to misalignment between the actuators, both actuators cannot fully extend and retract without causing an imbalance in load between the two actuators.

During periods when the pair of actuators are in the fully extended position (e.g., time periods (t₁,t₂), (t₅,t₆), and (t₉,t₁₀)), the first actuator attempts to maintain a position that is shorter than the position held by the second actuator as, due at least in part to misalignment, the extended position of the first actuator is not aligned with the extended position as the second actuator. This can cause the first actuator to experience a negative load, while the second actuator continues to experience a slightly elevated load.

During periods of retraction from the extended position (e.g., time periods (t₂,t₃), (t₄,t₅), and (t₈,t₉)), as the second actuator retracts from the more extended position, the first actuator starts experiencing a greater load as the first actuator attempts to slow down movement of the load to match the speed of the first actuator, causing the load on the second actuator to decrease via the mechanical connection between the two actuators through the shared load. When the actuators actuator reach full retraction (e.g., at times t₃, t₇, and t₁₁), the actuators do not reach the same position, but as shown in FIG. 5, the fully retracted positions result in a more balanced load than at the fully extended position.

During periods when the pair of actuators are retracted (e.g., time periods (t₃,t₄), (t₇,t₈), and beyond t₁₁), the actuators attempts to maintain the same position, and the actuator experience a closely balanced load.

FIG. 6 shows an example of actuator voltage, actuator current, and actuator position of a pair of actuators during extension and retraction that have not been calibrated as a pair. In FIG. 6, current drawn by a pair of linked actuators, voltage on each of the actuators, and extension position of the actuators over time is illustrated, with time shown by position along the x-axis, actuator position and voltage for each actuator shown by position along the left-hand y-axis, and actuator current for each actuator shown by position along the right-hand y-axis. A set of linked actuators connected to a shared load of ˜500 pounds (lbs) was used to generate the information shown in FIG. 6, with current and voltage measured using a current and voltage sensors, and position measured by a position sensor.

In FIG. 6, the positions of the first actuator (Act. 1 in FIG. 6) and the second actuator (Act. 2 in FIG. 6) are not synchronized during extension and retraction (in the example of FIG. 6 the second actuator extends and retracts at a slightly faster speed due to misalignment causing the two actuators to be under different loads). During periods of extension from the retraction home position (e.g., time period (t₁,t₂)), as the second actuator extends more quickly, the second actuator starts experiencing a greater load as the second actuator pulls the rod of the first actuator via mechanical connection between the two actuators through the shared load. As shown in FIG. 6, the current drawn by the second actuator exceeds the current drawn by the first actuator, corresponding to the higher load experienced by the second actuator. When the actuators reach full extension (e.g., at times t₂), the actuators both stop extending, and attempt to maintain the current position (i.e., a fully extended position, which due to misalignment, is not the same position). As shown in FIG. 6, during periods when the pair of actuators are in the fully extended position (e.g., time period (t₂,t₃), the current drawn by the second actuator continues to exceed the current drawn by the first actuator.

During periods of retraction from the extended position (e.g., time period (t₃,t₄)), as the second actuator retracts more quickly, the first actuator draws more current starts experiencing a greater load as the first actuator attempts to slow down movement of the load to match the speed of the first actuator, causing the load on the second actuator to decrease via the mechanical connection between the two actuators through the shared load. As shown in FIG. 6, the current drawn by the first actuator exceeds the current drawn by the second actuator, corresponding to the higher load experienced by the first actuator. When the actuators actuator reach full retraction (e.g., at time t₄), the actuators both stop retracting, and attempt to maintain the current position.

FIG. 7 shows an example of a process 700 for configuring potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

At 702, process 700 can measure a metric(s) indicative of load on each of a set of linked actuators during actuation of the actuators with various combinations of parameters. In some embodiments, the load metric(s) can be any type of value that is indicative of the load on each actuator in the set of linked actuators. For example, the load metric can be a measurement of current drawn by an actuator (e.g., for an actuator that draws more current with increased mechanical load, such as actuators described above in connection with FIG. 6), and process 700 can measure a current drawn by a particular actuator. As another example, the load metric can be difference between current drawn by a pair of actuators, and process 700 can determine a difference between the current drawn by the pair of actuators. As yet another example, the load metric can be a measurement of voltage across an actuator (e.g., for an actuator that uses a current mode control scheme that increases average voltage with increased mechanical load on the actuator), and process 700 can measure a voltage associated with a particular actuator. As still another example, the load metric can be a measurement of pressure in a hydraulic line (e.g., for a hydraulic actuator that increases pressure to achieve a particular position with increased mechanical load on the actuator), and process 700 can measure a voltage associated with a particular actuator. As a further example, the load metric can be an explicit load measurement (e.g., an output of a load cell configured to measure load experienced by an actuator), and process 700 can measure mechanical load associated with a particular actuator.

In some embodiments, process 700 can adjust any suitable parameter or parameters of one or more actuators of the set of linked actuators that may impact how load is balanced between the set of actuators at one or more positions and/or during actuation (e.g., during extension and/or retraction), and measure the load metric(s) with different combinations of parameters. For example, process 700 can adjust a parameter that is used to determine a fully retracted position and/or aa fully extended position (and/or any suitable position between fully extended and fully retracted). As a more particular example, process 700 can adjust an offset to a position that is to be considered fully retracted (e.g., an offset to a retraction home position). As another more particular example, process 700 can adjust an offset to a position that is to be considered fully extended (e.g., an offset to an extension home position). As yet another example, process 700 can adjust a value that controls a speed (e.g., an extension speed and/or a retraction speed) of the actuator (e.g., a voltage supplied to the actuator).

In some embodiments, process 700 can use any suitable technique or combination of techniques to measure the metric(s) with different combinations of actuator parameters, such as techniques described below in connection with process 800 of FIG. 8 and/or process 900 of FIG. 9.

In some embodiments, process 700 can measure the metric(s) indicative of load on each actuator of a set of linked actuators at various positions of the actuators (and/or various actuation positions of an actuated device actuated using the set of linked actuators), and the metric(s) value(s) can be used to determine a degree to which the load on the set of linked actuators is balanced and/or unbalanced. If process 700 determines that there is at least a threshold imbalance of the load between the set of actuators (e.g., between a pair of actuators used to actuate a trim tab), process 700 can adjust at least one parameter of one of the actuators (e.g., an offset to a retraction home position, an offset to an extension home position). After adjusting the parameter, process 700 can measure the metric(s) indicative of load on each actuator of the set of linked actuators at various positions of the actuators (e.g., the same positions at which the metric(s) was measured with the previous parameter values and/or different positions).

Additionally or alternatively, in some embodiments, can measure the metric(s) indicative of load on each actuator of a set of linked actuators during actuation between two or more positions of the actuators (and/or between actuation positions of an actuated device actuated using the set of linked actuators), and the metric(s) value(s) can be used to determine a degree to which the load on the set of linked actuators is balanced and/or unbalanced during extension and/or retraction. If process 700 determines that there is at least a threshold imbalance of the load between the set of actuators (e.g., between a pair of actuators used to actuate a trim tab), process 700 can adjust at least one parameter of one of the actuators (e.g., a parameter that controls a speed or extension and/or retraction). After adjusting the parameter, process 700 can measure the metric(s) indicative of load on each actuator of the set of linked actuators at during actuation between two or more positions of the actuators (e.g., the same positions between which the metric(s) was measured with the previous parameter values and/or different positions).

In some embodiments, process 700 can continue adjusting a parameter(s) of the actuator(s) until the load is sufficiently balanced between the set of actuators (e.g., when the metric(s) indicate that the difference in load is below a threshold). Additionally or alternatively, in some embodiments, process 700 can continue adjusting a parameter(s) of the actuator(s) in a direction that improved balance between the two actuators until balance between the set of actuators worsens (e.g., when the metric(s) indicate that the difference in load has increased).

At 704, process 700 can set one or more parameters of at least one of the linked actuators based on a value of the parameter(s) that resulted in a sufficiently balanced load between the linked actuators, such as techniques described below in connection with process 800 of FIG. 8 and/or process 900 of FIG. 9. In some embodiments, process 700 can determine which parameter (s) to set, and a value at which to set the parameter based on the load metrics measured at 702 using any suitable technique or combination of techniques. For example, process 700 can set an offset parameter of one or more actuators based on which combination of offsets resulted in the most balanced load across different positions. As another example, process 700 can set a speed parameter (e.g., that controls an extension and/or retraction speed of the actuator) of one or more actuators based on which combination of speed parameters resulted in the most balanced load across during actuation (e.g., extension and/or retraction).

In some embodiments, process 700 can use any suitable technique or combination of techniques to set the one or more parameters. For example, process 700 can modify a value in memory associated with the actuator (e.g., memory 252), and/or a value in memory of a control system (e.g., memory 232). As another example, process 700 can modify a value in hardware and/or firmware used to control operation of the actuator.

In some embodiments, process 700 can be performed when the set of linked actuators are subject to any suitable load conditions. For example, process 700 can be performed for a set of linked actuators used to actuate a trim tab of a marine vessel when the marine vessel and/or trim tab is not in the water (e.g., when the trim tab is initially installed), and accordingly the actuators are only subject to the mechanical load caused by the trim tab. As another example, process 700 can be performed for a set of linked actuators used to actuate a trim tab of a marine vessel when the marine vessel is in water but not underway (e.g., moored, docked, drifting, etc.), and accordingly the actuators can be subject to mechanical load caused by hydrodynamic interaction between the trim tab and water. As yet another example, process 700 can be performed for a set of linked actuators used to actuate a trim tab of a marine vessel when the marine vessel is in water and underway (e.g., at any suitable speed), and accordingly the actuators can be subject to additional mechanical load caused by relative motion of the marine vessel and the water and/or how the water interacts with the hull of the marine vessel (e.g., load can be expected to increase with speed of the vessel).

FIG. 8 shows an example of a process 800 for adjusting an offset of one or more potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

At 802, process 800 can extend (or retract) a set of linked actuators. In some embodiments, example, process 800 can cause the set of linked actuators to move to a predetermined position, such as a retraction home position or an extension home position (or some other position), and process 800 can cause the set of linked actuators to actuate from the predetermined position (e.g., extend or retract) to cover a predetermined range of motion (e.g., a full range of motion from a retraction home position to an extension home position).

At 804, process 800 can measure a load metric(s) indicative of load on each actuator during extension (or retraction). In some embodiments, process 800 can measure any suitable load metric (e.g., as described above in connection with FIG. 7). In some embodiments, process 800 can measure the load metric(s) relatively continuously or at any suitable intervals. For example, process 800 can measure the load metric(s) at 5% intervals of actuator positions. As another example, process 800 can measure the load metric(s) at 5% intervals of the actuated device (e.g., 5% intervals between a trimmed-out position and a trimmed-in position).

At 806, process 800 can determine a calibration value(s) indicative of load imbalance between the set of linked actuators at various positions. In some embodiments, process 800 can determine any suitable value as a calibration value that is indicative of a load imbalance between linked actuators. For example, process 800 can determine a difference between the load metric at one or more positions (e.g., a difference between current drawn by each actuator at the positions). As another example, process 800 can determine a ratio between the load metric at one or more positions (e.g., a ratio between current drawn by each actuator at the positions). As yet another example, process 800 can determine a calibration value that is based on load metric values at various positions, such as a maximum value of the difference in load metric at each position, an average (e.g., median, mean, etc.) of the difference in load metric at each position, etc.

At 808, process 800 can determine whether the calibration value(s) improved from a previous value(s). In some embodiments, process 800 can determine whether the calibration value(s) has improved using any suitable technique or combination of techniques. For example, process 800 can determine whether the calibration value is closer to a particular value (e.g., zero) than the previous value(s). Additionally or alternatively, in some embodiments, process 800 can determine whether the calibration value meets a calibration value threshold. For example, if the difference in load metrics between a pair of linked actuators is below a threshold value (e.g., a predetermined value, a fraction of a maximum of measured load metric values, etc.), process 800 can determine that the pair of linked actuators is sufficiently balanced.

If process 800 determines that the calibration value has improved (“YES” at 808), process 800 can move to 810.

At 810, process 800 can adjust an offset of at least one actuator based on the calibration value(s). In some embodiments, process 800 can use any suitable technique to determine which offset value(s) to adjust. For example, if the load metric and/or calibration value indicates that load on one actuator of the set of actuators is higher than another actuator(s) of the set of actuators, process 800 can determine that an offset for the higher loaded actuator is to be increased (e.g., such that a home position is farther from a maximum extension or retraction position that the actuator can take), which can be expected to more evenly balance load. In a more particular example, if the calibration metric determined at 806 is a difference between current drawn by a first actuator (e.g., A1) and current drawn by a second actuator (e.g., A2) at a 0% position (e.g., the calibration value at 0% can be represented as Δ(0%)=A1−A2). In such an example, if the value is negative it can indicate that the load on A2 is higher than the load on A1, and if the value is positive it can indicate that the load on A1 is higher than the load on A2. In such an example, if the calibration value is negative, process 800 can cause a retraction home position of actuator A2 to be offset to be farther from a maximum retraction that the actuator can achieve, and vice versa if the calibration value is positive (e.g., the retraction home position of actuator A1 can be offset to a value father from the maximally retracted position).

In some embodiments, process 800 can use any suitable technique to determine an amount by which to adjust the offset value(s) that is being adjusted. For example, process 800 can adjust the offset value by a relatively small predetermined amount (e.g., 0.5%, 1%, etc.). As another example, process 800 can adjust the offset value by an amount that is based on the magnitude of the calibration value (e.g., a larger increase if the magnitude of the calibration value is above a threshold, and a smaller increase if the magnitude of the calibration value is below the threshold).

In some embodiments, process 800 can adjust a single offset value (e.g., a retraction home position, an extension home position) for a single actuator at 810. Additionally or alternatively, in some embodiments, process 800 can adjust a single offset value (e.g., a retraction home position, an extension home position) for multiple actuators of the set of linked actuators at 810. For example, as described above in connection with FIGS. 4A to 4C, when a retraction home position is adjusted for one actuator of a set of linked actuators, a corresponding adjustment can be made to the opposite offset for another actuator(s) of the set of linked actuators. In a particular example, as described above in connection with FIGS. 4A to 4C, when the retraction home position of actuator 444a is adjusted from 0% to 1%, the extension home position of actuator 444b can be adjusted from 100% to 99%, as otherwise actuator 444b would be expected to experience an increased load at full extension as it attempts to extend and actuate the actuated device past the fully extended position of actuator 444a. In some embodiments, if there are more than two actuators in the set of linked actuators, process 800 can adjust an offset value(s) for multiple actuators (e.g., multiple actuators that experience a higher load at a particular positions).

Otherwise, if process 800 determines that the calibration value has not improved (“NO” at 808), process 800 can move to 812. For example, if the calibration has remained relatively static (e.g., the most recent calibration value is approximately equal to the previous calibration value, such as within a tolerance based on the accuracy of the sensor measuring the load metric), process 800 can determine that the calibration value has not improved. As another example, if the load imbalance has significantly worsened, process 800 can determine that the calibration value has not improved.

At 812, process 800 can determine an offset(s) for at least one of the actuators based on the value(s) of offset that resulted in a most balanced load among the linked actuator using any suitable technique or combination of techniques. In some embodiments, process 800 can determine the offset(s) for the one of the actuators based on the offset(s) that resulted in the most balanced load (e.g., most balanced current draw) at one or more actuator and/or actuated device positions that are being evaluated. For example, process 800 can evaluate the load metric values and/or calibration values for various combinations of parameters (e.g., combination of offsets) and/or at various positions to determine which combination of parameters that results in the most balanced load at a position(s) that is being evaluated. As another example, process 800 can select a combination of parameters that preceded a combination of parameters when load became more imbalanced in an opposite direction of an initial imbalance in the set of linked actuators. In a more particular example, if actuator A1 initially experienced a higher load than actuator A2 at a retraction home position, process 800 can adjust the offset of actuator A1 (e.g., in 1% increments) until actuator A2 begins experiencing a significantly higher load than actuator A1 at the retraction home position (e.g., not when the load on A2 is just slightly higher, but the load is essentially balanced, such as when the loads are within a predetermined threshold of each other). In such an example, process 800 can set the offset for actuator A1 by reverting to an offset value preceding the value when the load on actuator A2 significantly exceeded the load on actuator A1.

FIG. 9 shows an example of a process 900 for adjusting an actuation speed of one or more potentially imbalanced actuators of a marine vessel in accordance with some embodiments of the disclosure.

At 902, process 900 can extend (or retract) a set of linked actuators. In some embodiments, example, process 900 can cause the set of linked actuators to move from a current position and/or a predetermined position (e.g., a retraction home position, an extension home position, or some other position), and process 900 can cause the set of linked actuators to actuate from the predetermined position (e.g., extend or retract) to cover a predetermined range of motion (e.g., a full range of motion from a retraction home position to an extension home position).

At 904, process 900 can measure a load metric indicative of load on each actuator during extension (or retraction). In some embodiments, process 900 can measure any suitable load metric (e.g., as described above in connection with FIG. 7). In some embodiments, process 900 can measure the load metric(s) relatively continuously or at any suitable intervals. For example, process 900 can measure the load metric(s) relatively continuously (e.g., at a predetermined sampling rate) as the actuators actuate an actuated device. As another example, process 900 can measure the load metric(s) discontinuously at predetermined intervals (e.g., of time and/or position), such as at 5% intervals of actuator positions and/or at 5 % intervals of the actuated device (e.g., 5% intervals between a trimmed-out position and a trimmed-in position).

At 906, process 900 can determine a calibration value(s) indicative of load imbalance during extension (or retraction). In some embodiments, process 900 can determine any suitable value as a calibration value that is indicative of a load imbalance between linked actuators during at least a portion of extension and/or retraction. For example, process 900 can determine a difference between the load metric at one or more positions (e.g., a difference between current drawn by each actuator at the positions) as the actuators extended (or retracted) through the position. As another example, process 900 can determine a ratio between the load metric at one or more positions (e.g., a ratio between current drawn by each actuator at the positions). As yet another example, process 900 can determine a calibration value that is based on load metric values at various positions, such as a maximum value of the difference in load metric at each position, an average (e.g., median, mean, etc.) of the difference in load metric at each position, a total difference in load metric at each position (e.g., a sum of the absolute values of the differences at each position), etc.

At 908, process 900 can determine whether the value is consistent with the load on each actuator of the linked set of actuators being balanced during extension (or retraction). In some embodiments, process 900 can determine whether the load is balanced over the set of actuators using any suitable technique or combination of techniques. For example, process 900 can determine whether the calibration value (or set of calibration values) is sufficiently close to a particular value (e.g., within a predetermined threshold of zero). In such an example, if the calibration value(s) is within a threshold of a particular value, process 900 can determine that the value is consistent with the load being balanced across the set of actuators. As another example, process 900 can determine whether the calibration value(s) indicates that the current parameters of the actuators results in a more balanced load or less balanced load (or a load balance that is about equal) than the previous calibration value(s). In such an example, if calibration value(s) determined from previous extensions and/retractions had indicated that load balance was improving (e.g., prior to measuring with the current actuator parameters), but the most recent calibration values are not indicative of improvement (e.g., load balance is about the same, or the load has become more unbalanced), process 900 can determine that the load was sufficiently balanced with a measured set of parameters.

If process 900 determines that a set of parameter values (e.g., extension and/or retraction speed values) that sufficiently balances the load has not been found (“NO” at 908), process 900 can move to 910.

At 910, process 900 can adjust an extension (or retraction) speed of at least one actuator of the linked actuators based on the calibration value(s). In some embodiments, process 900 can use any suitable technique to determine which speed value(s) to adjust. In some embodiments, if the load metric and/or calibration value indicates that load on one actuator of the set of actuators is higher than another actuator(s) of the set of actuators during extension or retraction, process 900 can determine that the extension and/or retraction speed of one or more of the actuators is to be adjusted to more evenly balance the load during extension or retraction. As described above in connection with FIGS. 5 and 6, when load is significantly imbalanced while extending or retracting, it can indicate that the actuators are misaligned, causing imbalanced load and a differences in speed during extension and retraction, where the relationship between which actuator experiences a higher load and which actuator is moves at a faster speed is different depending on whether the actuators are extending or retracting (e.g., due to the cause of the misalignment and how it impacts the loads experienced by each actuator during extension and retraction). For example, process 900 can decrease the extension speed of the higher loaded actuator(s) and/or increase the extension speed of the lower loaded actuator(s), which can be expected to more evenly balance the load during extension (e.g., if misalignment is not corrected by adjusting an offset of one or more actuators such as if process 800 is omitted, if the speed is not well matched after correcting for misalignment using a process such as process 800, and/or if misalignment cannot be entirely corrected using a process such as process 800). As another example, process 900 can increase the retraction speed of the higher loaded actuator(s) and/or decrease the retraction speed of the lower loaded actuator(s), which can be expected to more evenly balance the load during retraction. In a more particular example, if current drawn by an electric actuator A1 is higher during extension than the current drawn by a linked electric actuator A2 during extension, process 900 can decrease the voltage to be supplied to actuator A1 and/or increase the voltage to be supplied to actuator A2, causing actuator A1 to extend more slowly and/or actuator A2 to extend more quickly. As another more particular example, if current drawn by an electric actuator A2 is higher during retraction than the current drawn by a linked electric actuator A1 during retraction, process 900 can decrease the voltage to be supplied to actuator A1 and/or increase the voltage to be supplied to actuator A2, causing actuator A1 to retract more slowly and/or actuator A2 to retract more quickly.

In some embodiments, process 900 can use any suitable technique to determine an amount by which to adjust the speed value(s) that is being adjusted. For example, process 900 can adjust the speed value (e.g., the voltage to be supplied) by a relatively small predetermined amount (e.g., by about 1%, 2%, etc., or by about 0.1 V, 0.2 V, etc., in a 12 V system). As another example, process 900 can adjust the speed value by an amount that is based on the magnitude of the imbalance between the set of actuators (e.g., indicated by a magnitude of a calibration value(s)). In such an example, process can adjust the speed value by a larger amount (e.g., about 5% or more of the current or original speed value, or about 0.5 V change in a 12 V system) and/or can adjust the speed of multiple actuators in opposite directions (e.g., increasing the speed of a slower actuator and concurrently decreasing the speed of the faster actuator) if the magnitude of imbalance is relatively large (e.g., the calibration value is above a threshold), and a smaller increase (and/or adjusting a speed of only a single actuator) if the magnitude the imbalance is smaller.

In some embodiments, process 900 can adjust a single speed value (e.g., a retraction speed, an extension speed) for a single actuator at 910. Additionally or alternatively, in some embodiments, process 900 can adjust a single speed value (e.g., a retraction speed, an extension speed) for multiple actuators of the set of linked actuators at 910. For example, when extension speed is adjusted for one actuator of a set of linked actuators, an extension speed of the other actuator can be left unchanged. As another example, when an extension speed is adjusted for one actuator of a set of linked actuators, an opposite adjustment to extension speed can be made to another actuator(s) of the set of linked actuators. In a particular example, when the extension speed of a first actuator is slower than a second actuator (e.g., indicated by a higher current drawn by the second actuator during extension), process 900 can adjust the extension speed of the second actuator to be slower (e.g., by decreasing the voltage supplied to the second actuator during extension), expecting the slower adjusted speed of the second actuator to more closely match the extension speed of the first actuator, and/or process 900 can adjust the extension speed of the first actuator to be faster (e.g., by increasing the voltage supplied to the first actuator during extension). In some embodiments, the speed value for extension and retraction of an actuator can be the same or different. For example, if a component(s) of an actuator causes a retraction speed to be lower than an extension speed when the same parameters are used (e.g., when the same voltage is supplied), process 900 can cause just the retraction speed of the actuator and/or other actuators in a set of linked actuators to be adjusted such that both the load is balanced during both retraction and extension.

Otherwise, if process 900 determines that a set of parameter values (e.g., extension and/or retraction speed values) that sufficiently balances the load has been found (“YES” at 908), process 900 can move to 912.

At 912, process 900 can determine an extension (or retraction) speed for at least one of the actuators based on the speed(s) that resulted in a most balanced load among the linked actuators. In some embodiments, process 900 can determine the speed to set for the one of the actuators based on the speed(s) that resulted in the most balanced load (e.g., most balanced current draw) during extension and/or retraction among the set of linked actuators. For example, process 900 can evaluate the load metric values and/or calibration values for various combinations of parameters (e.g., combination of speeds) and/or at various positions to determine which combination of parameters results in the most balanced load during extension and/or retraction. As another example, process 900 can select a combination of parameters that preceded a combination of parameters when load became more imbalanced between the set of linked actuators after first becoming more balanced. In a more particular example, if actuator A1 initially experienced a lower load than actuator A2 during extension, process 900 can adjust the speed of actuator A2 (e.g., in relatively small increments, such as 0.1 V in a 12 V system) until actuator A1 begins experiencing a significantly higher load than actuator A2 during extension. In such an example, process 900 can set the speed for actuator A2 by reverting to a speed value (e.g., voltage) preceding the value when the load on actuator A1 significantly exceeded the load on actuator A2 during extension. As another more particular example, if actuator A1 initially experienced a lower load than actuator A2 during extension, process 900 can adjust the speed of actuator A2 (e.g., in relatively small increments, such as 0.1 V in a 12 V system) until the load is relatively balanced between actuator A1 and actuator A2 during extension (e.g., when load metrics for A1 and A2 are about equal at a particular position or set of positions, when a calibration value is relatively close to a target value). In such an example, process 900 can set the speed for actuator A2 based on the current speed value (e.g., voltage) at which the load on actuator A1 equaled the load on actuator A2 during extension.

Further Examples Having a Variety of Features

Implementation examples are described in the following numbered clauses:

• • 1. A method for configuring actuators of a marine vessel, the method comprising: causing each a plurality of actuators to be actuated, thereby causing an actuated device coupled to the marine vessel to move, wherein each of the plurality of actuators comprises: a first end coupled to the marine vessel; and a second end coupled to the actuated device; receiving, for each of the plurality of actuators, a value indicative of a load on the actuator at a particular time; and setting a parameter of at least one actuator of the plurality of actuators to a value that is expected to result in a more balanced load among the plurality of actuators.
  • 2. The method of clause 1, wherein each of the plurality of actuators is an electric linear actuator.
  • 3. The method of any one of clauses 1 or 2, wherein each of the plurality of actuators comprises: a housing having a proximate end and a distal end, wherein the proximate end of the housing is closer to the first end of the actuator than to the second end of the actuator; and a rod configured to extend and retract with respect to the housing, wherein a distal end of the rod is closer to the second end of the actuator than to the first end of the actuator, and wherein a distance between the distal end of the rod and the first end of the actuator increases as the rod extends with respect to the housing.
  • 4. The method of any one of clauses 1 to 3, wherein the actuated device comprises a trim tab.
  • 5. The method of clause 4, wherein actuation of the plurality of actuators moves a trim plane of the trim tab in a range of positions between a trimmed-up position and a trimmed-down position.
  • 6. The method of any one of clauses 1 to 5, wherein the parameter corresponds to a home position of the at least one actuator.
  • 7. The method of clause 6, wherein the home position comprises a retraction home position.
  • 8. The method of clause 7, wherein the parameter is a retraction home position offset value.
  • 9. The method of any one of clauses 1 to 8, wherein the parameter corresponds to an actuation speed of the at least one actuator, or wherein a second parameter of the at least one actuator corresponds to an actuation speed of the at least one actuator and the method comprises setting the second parameter to a value that is expected to result in a more balanced load among the plurality of actuators during extension of the plurality of actuators.
  • 10. The method of clause 9, wherein the actuation speed is an extension speed of the at least one actuator.
  • 11. The method of clause 10, further comprising: adjusting a voltage supplied to the at least one actuator during extension, thereby adjusting the extension speed of the at least one actuator; and setting the parameter of the at least one actuator based on the adjusted voltage, or setting the second parameter of the at least one actuator based on the adjusted voltage.
  • 12. The method of any one of clauses 1 to 11, wherein causing the actuators to be actuated comprises causing the plurality of actuators to extend from a retraction home position.
  • 13. The method of any one of clauses 1 to 12, wherein the value indicative of the load on the actuator at the particular time comprises a measurement of electric current drawn by the actuator at the particular time, and wherein the method further comprises: measuring the electric current drawn by each actuator of the plurality of actuators at a plurality of positions between a retracted position and an extended position.
  • 14. The method of any one of clauses 1 to 13, wherein the value indicative of the load on the actuator at the particular time is a load metric, and wherein the method further comprises: (a) measuring a load metric value for each actuator of the plurality of actuators at each of a plurality of positions of the actuated device; (b) comparing at least one load metric value for the at least one actuator to a corresponding load metric value for another actuator of the plurality of actuators measured at a corresponding position; (c) adjusting the parameter based on the comparison; (d) repeating (a) to (c) until a parameter value that is expected to most evenly balance load among the plurality of actuators is identified; and setting the parameter of the at least one actuator to the identified parameter value, or setting the second parameter of the at least one actuator to the identified parameter value.
  • 15. The method of any one of clauses 1 to 14, further comprising: causing a value in memory associated with a controller to be set to the value that is expected to result in a more balanced load among the plurality of actuators, thereby setting the parameter of the at least one actuator or the second parameter of the at least one actuator, wherein the controller is configured to control actuation of the at least one actuator based on the value in memory.
  • 16. The method of any one of clauses 1 to 15, wherein the value indicative of load is based on one or more of the following: an electric current drawn by the respective actuator at the particular time; a voltage supplied to the respective actuator at the particular time; a pressure in a hydraulic line used to actuate the respective actuator at the particular time; and an output of a load cell configured to measure a load on the respective actuator at the particular time.
  • 17. A system comprising: one or more processors configured to: perform a method of any of clauses 1 to 16.
  • 18. A non-transitory computer-readable medium storing computer-executable code, comprising code for causing a computer to cause a processor to: perform a method of any of clauses 1 to 16.

In some embodiments, any suitable computer readable media can be used for storing instructions for performing functions and/or processes described herein. For example, in some embodiments, computer readable media can be transitory or non-transitory. For example, non-transitory computer readable media can include media such as magnetic media (such as hard disks, floppy disks, etc.), optical media (such as compact discs, digital video discs, Blu-ray discs, etc.), semiconductor media (such as RAM, Flash memory, electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), etc.), any suitable media that is not fleeting or devoid of any semblance of permanence during transmission, and/or any suitable tangible media. As another example, transitory computer readable media can include signals on networks, in wires, conductors, optical fibers, circuits, or any suitable media that is fleeting and devoid of any semblance of permanence during transmission, and/or any suitable intangible media.

It should be noted that, as used herein, the term mechanism can encompass hardware, software, firmware, or any suitable combination thereof.

It should be understood that above-described steps of the processes of FIGS. 7 to 9 can be executed or performed in any suitable order or sequence not limited to the order and sequence shown and described in the figures. Also, some of the above steps of the processes of FIGS. 7 to 9 can be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times.

This written description uses examples to disclose the invention(s), including the best mode, and also to enable any person skilled in the art to make and use the invention(s). Certain terms have been used for brevity, clarity, and understanding. No unnecessary limitations are to be inferred therefrom beyond the requirement of the prior art because such terms are used for descriptive purposes only and are intended to be broadly construed. The patentable scope of the invention(s) is defined by the claims and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have features or structural elements that do not differ from the literal language of the claims, or if they include equivalent features or structural elements with insubstantial differences from the literal languages of the claims.