The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 21, 2026
Filed:
Jun. 28, 2023
Abb Schweiz Ag, Baden, CH;
ABB SCHWEIZ AG, Baden, CH;
Abstract
A high-level motion controller provides a lower-level thrust allocation with generalized forces demanded on the ship for the current instant of time as well as a prediction of future generalized forces demanded over a predicted future time, and optionally one or more other reference predictions, such as a time-varying velocity and position of the ship When predictions of the future desired forces and torque are made available to the lower-level thrust allocation, the lower-level thrust allocation will be aware of what is needed in the future and use the predictions to make efficient changes towards the desired future references, when it generates control signals to thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the individual thrusters.