EP1923308A2 - Lenksystem für ein Wasserfahrzeug - Google Patents

Lenksystem für ein Wasserfahrzeug Download PDF

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Publication number
EP1923308A2
EP1923308A2 EP07022326A EP07022326A EP1923308A2 EP 1923308 A2 EP1923308 A2 EP 1923308A2 EP 07022326 A EP07022326 A EP 07022326A EP 07022326 A EP07022326 A EP 07022326A EP 1923308 A2 EP1923308 A2 EP 1923308A2
Authority
EP
European Patent Office
Prior art keywords
watercraft
detection means
status
actuator
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07022326A
Other languages
English (en)
French (fr)
Other versions
EP1923308A3 (de
EP1923308B1 (de
Inventor
Makoto Mizutani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Marine Co Ltd
Yamaha Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2006312161A external-priority patent/JP5132132B2/ja
Priority claimed from JP2006312184A external-priority patent/JP4884177B2/ja
Priority claimed from JP2006312172A external-priority patent/JP4994006B2/ja
Priority claimed from JP2006312228A external-priority patent/JP2008126775A/ja
Application filed by Yamaha Marine Co Ltd, Yamaha Motor Co Ltd filed Critical Yamaha Marine Co Ltd
Publication of EP1923308A2 publication Critical patent/EP1923308A2/de
Publication of EP1923308A3 publication Critical patent/EP1923308A3/de
Application granted granted Critical
Publication of EP1923308B1 publication Critical patent/EP1923308B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
    • B63H20/12—Means enabling steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/12—Steering gear with fluid transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/18—Transmitting of movement of initiating means to steering engine
    • B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers

Definitions

  • the present invention relates to a steering device, and in particular to a watercraft steering device, having an electric actuator which is actuated as an operator operates a steering wheel for rudder deflection, and particularly to a watercraft steering device which can apply a reaction force to the steering wheel, and to a watercraft with the steering device.
  • Patent Document 1 One conventional watercraft of this type is disclosed in Patent Document 1.
  • Patent Document 1 discloses that "the electric actuator of the steering device is actuated as an operator operates the steering wheel.
  • the watercraft is steered in response to the operation amount of the steering wheel. Further, an external force to the watercraft is detected. Based on the detected external force, a reaction torque is applied to the steering wheel. Accordingly, the operator can feel the external force to the watercraft due to a water current for example, directly through the steering wheel, and thus can recognize the movement of the watercraft corresponding to such external force to thereby act without delay.”
  • Patent Document 1 JP-A-2005-254848
  • a reaction torque is applied to the steering wheel based on an external force to the watercraft.
  • An operator can feel such external force due to a water current for example, directly through the steering wheel, and thus can recognize the movement of the watercraft corresponding to the external force to thereby act without delay.
  • an operation feel of the steering wheel can be lighter.
  • rudder deflection torque when the steering wheel is operated faster, output from the steering motor (electric actuator) becomes less responsive, resulting in a poor operation feel.
  • rudder deflection torque characteristics required for rudder deflection may change from the state shown by required rudder deflection force characteristic line A1 to the state shown by required rudder deflection force characteristic line A2, depending on the characteristics of the watercraft, a rudder angle, an operation speed, or the like. In such case, a required rudder deflection force may exceed the limit of the motor ability, resulting in impaired responsiveness and a poorer operation feel.
  • motor characteristics depend on the surroundings such as temperature.
  • the motor characteristics may change from the state shown by motor characteristic line B1 (solid line in the figure) to the state shown by motor characteristic line B2 (broken line in the figure).
  • motor characteristic line B1 solid line in the figure
  • motor characteristic line B2 broken line in the figure
  • an object of the present invention to provide a steering device which provides excellent responsiveness invariably and provide an operator with an excellent operation feel during rudder deflection, depending on a running status of the watercraft.
  • a steering system for a watercraft comprising: a rudder; a steering device including an actuator configured to change a direction in which the watercraft travels; a steering amount input means, operable by an operator, electrically connected to the actuator to provide an actuation signal corresponding to the amount of a steering operation to the actuator; a reaction actuator for applying a reaction force to the steering amount input device; and control means for controlling the reaction actuator, the control means including: at least one of operation status detection means for detecting an operation status corresponding to the steering operation, running status detection means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of a watercraft propulsion unit, such as the installation number thereof, and actuator status detection means for detecting a status of the actuator; torque computation means for computing a torque target value based on the detection value from the at least one of the detection and recognition means; and reaction actuator control means for controlling the reaction actuator in accordance with the torque target value.
  • the watercraft propulsion unit in particular arranged at a stern of the watercraft, is used as the rudder.
  • the actuator is configured to change a direction in which the watercraft travels is an electric actuator.
  • the operation status detection means includes at least one of rudder deflection force detection means for detecting a rudder deflection force required for the rudder deflection, load detection means for detecting a load to the rudder, steering operation detection means for detecting a steering operation angle, a steering operation speed and a direction in which the steering amount input means is operated, rudder deflection detection means for detecting a rudder deflection angle, a rudder deflection speed and a direction in which the rudder is deflected, corresponding to the steering operation, and deviation detection means for detecting a deviation of a detected actual rudder deflection angle from a target rudder deflection angle corresponding to the steering operation.
  • the running status detection means includes at least one of weight detection means for detecting at least one of a position of a waterline and a weight of the watercraft, trim angle detection means for detecting a trim angle of the watercraft, and speed detection means for detecting at least one of a speed, an acceleration and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • the watercraft propulsion unit status recognition means includes operation storage means for storing therein any one of pieces of information on the installation number of the watercraft propulsion unit, an installation position of the watercraft propulsion unit relative to the watercraft, a rotational direction of a propeller of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.
  • the actuator status detection means is an electric actuator status detection means, which is connected to temperature detection means for detecting a temperature of the electric actuator.
  • the actuator status detection means is an electric actuator status detection means, and includes operating number detection means for detecting the number of the electric actuator in operation.
  • the steering amount input means is a steering wheel or a control lever, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering operation input to the electric actuator.
  • the steering system further comprises an electronic control unit (ECU) for controlling the electric motor
  • ECU electronice control unit
  • the ECU includes at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, running status detection means for detecting a running status of the watercraft, outboard motor status recognition means for recognizing a status of the outboard motor, such as the installation number thereof, and electric motor status detection means for detecting a status of the electric motor
  • the ECU also includes torque computation means for making a torque target value larger depending on the detection value from the at least one of the means, and reaction motor control means for controlling the reaction motor in accordance with the torque target value computed by the torque computation means.
  • FIGs. 1 to 8 illustrate the embodiment of the present teaching.
  • a watercraft in accordance with this embodiment has a hull 10 including a transom 11.
  • an outboard motor 12 as a "watercraft propulsion unit” is mounted via clamp brackets 13.
  • the outboard motor 12 is pivotable about a swivel shaft (steering pivot shaft) 14 extending in a vertical direction.
  • the outboard motor 12 serves as a rudder as it pivots, and thus the direction in which the watercraft is driven is changed.
  • a steering bracket 15 is fixed at the upper end of the swivel shaft 14.
  • the steering bracket 15 is coupled at its front end 15a to a steering device 16.
  • the steering device 16 is driven by operating a steering wheel 17 disposed in an operator's section.
  • the steering device 16 includes a DD (direct drive) electric motor 20 for example, as an “electric actuator.”
  • the electric motor 20 is attached to a threaded rod 21 extending in a width direction of the watercraft, and is movable in the width direction of the watercraft along the threaded rod 21.
  • the threaded rod 21 is supported at its both ends by a pair of left and right supports 22.
  • the supports 22 are supported by a tilt shaft 23.
  • the electric motor 20 has a coupling bracket 24 extending rearward.
  • the coupling bracket 24 and the steering bracket 15 are coupled with each other via a coupling pin 25.
  • the outboard motor 12 will pivot about the swivel shaft 14 via the coupling bracket 24 and the steering bracket 15.
  • the steering wheel 17 is fixed to a steering wheel shaft 26.
  • a steering wheel control unit 27 At the proximal end of the steering shaft 26, there is provided a steering wheel control unit 27.
  • the steering wheel control unit 27 includes a steering wheel operation angle sensor 28 for detecting an operation angle of the steering wheel 17, and a reaction motor 29 as an "electric actuator" for applying a desired reaction force to the steering wheel 17 during an operation of the steering wheel 17 by the operator.
  • the steering wheel control unit 27 is connected to an electronic control unit (ECU) 33 as "control means" via a signal cable 30.
  • the control unit 33 is connected to the electric motor 20 of the steering device 16.
  • the control unit 33 receives a signal from the steering wheel operation angle sensor 28, controls the electric motor 20, and controls the reaction motor 29.
  • control unit 33 includes operation status detection means 38 for detecting an operation status corresponding to an operator's steering wheel operation, running status detection means 39 for detecting a running status of the watercraft, outboard motor status recognition means 40 as “watercraft propulsion unit status recognition means” for recognizing a status of the outboard motor 12, such as its number, and electric motor status detection means 41 as “electric actuator status detection means” for detecting a status of the electric motor 20.
  • the control unit 33 also includes torque computation means 42 for making a torque target value for the reaction motor 29 larger when it determines that a load to the electric motor 20 during rudder deflection will increase, based on the detection values from those means 38..., and reaction motor control means 43 for controlling the reaction motor 29 in accordance with the torque target value computed by the torque computation means 42.
  • the operation status detection means 38 includes a torque detection means 46 for detecting a rudder deflection force required for rudder deflection, load detection means 44 for detecting a load to the rudder, such as water pressure, steering operation detection means 47 for detecting an operation angle of the steering wheel 17, an operation speed of the steering wheel 17 and a direction in which the steering wheel is operated, and rudder deflection detection means 54 for detecting a rudder deflection angle, a rudder deflection speed and a direction in which the rudder is deflected, corresponding to the operation of the steering wheel 17.
  • a torque detection means 46 for detecting a rudder deflection force required for rudder deflection
  • load detection means 44 for detecting a load to the rudder, such as water pressure
  • steering operation detection means 47 for detecting an operation angle of the steering wheel 17, an operation speed of the steering wheel 17 and a direction in which the steering wheel is operated
  • rudder deflection detection means 54 for detecting a r
  • the operation status detection means 38 also includes deviation detection means 45 for detecting a deviation of a detected actual rudder deflection angle from a target rudder deflection angle corresponding to the steering wheel operation, as shown in FIG. 4.
  • the steering wheel operation angle sensor 28 provided in the steering operation detection means 47 detects a steering wheel operation angle.
  • weight detection means 48 for detecting the position of a waterline and the weight of the watercraft
  • trim angle detection means 49 for detecting a trim angle of the watercraft
  • speed detection means 50 for detecting a speed, an acceleration and a propulsive force of the watercraft, and an output of the outboard motor 12, as shown in FIG. 3.
  • operation storage means 51 for storing therein information on the installation number of the outboard motor 12, the installation position of the outboard motor 12 relative to the watercraft, a rotational direction of a propeller of the outboard motor 12, a propeller shape, a trim tab angle, a trim tab shape, and the like. It is a matter of course that the operation storage means 51 can be included in the ECU 33.
  • the electric motor status detection means 41 includes temperature detection means 52 for detecting a temperature of the electric motor 20, and operating number detection means 53 for detecting the number of the electric motor 20 in operation, as shown in FIG. 3.
  • a signal will be transmitted from the steering wheel operation angle sensor 28 in the steering operation detection means 47 to the ECU 33. Then, in step S10 of FIG. 5, a target rudder deflection angle is detected, and in step S11, a target deviation is computed.
  • the operation status detection means 38 detects an operation status.
  • operation status refers to a rudder deflection torque required for deflecting the outboard motor 12, an operation angle and an operation speed of the steering wheel, a direction in which the steering wheel is operated, a deviation in rudder deflection angle corresponding to a steering wheel operation, and the like.
  • the rudder deflection torque is detected by the torque detection means 46.
  • the operation angle and the operation speed of the steering wheel, the direction in which the steering wheel is operated, and the like are detected by the steering operation detection means 47. Detection signals from those means are transmitted to the operation status detection means 38 to thereby detect the operation status.
  • the running status detection means 39 detects a running status.
  • running status refers to the position of a waterline, the weight, a trim angle, a speed, an acceleration and a propulsive force of the watercraft, an output of the outboard motor 12, and the like.
  • the position of a waterline and the weight of the watercraft are detected by the weight detection means 48.
  • the trim angle of the watercraft is detected by the trim angle detection means 49.
  • the speed, the acceleration and the propulsive force of the watercraft, and the output of the outboard motor 12 are detected by the speed detection means 50. Detection signals from those means are transmitted to the running status detection means 39 to thereby detect the running status.
  • the outboard motor status recognition means 40 recognizes a status of the outboard motor 12.
  • the term "the status of the outboard motor 12" refers to the installation number of the outboard motor 12, the installation position of the outboard motor 12 relative to the watercraft, a rotational direction of the propeller of the outboard motor 12, a propeller shape, a trim tab angle, a trim tab shape, and the like.
  • Information on the installation number of the outboard motor 12, the installation position of the outboard motor 12 relative to the watercraft, the rotational direction of the propeller of the outboard motor 12, and the like are stored in the operation storage means 51. Such information is read and then transmitted to the outboard motor status recognition means 40 to thereby recognize the status of the outboard motor 12.
  • the electric motor status detection means 41 detects a status of the electric motor 20.
  • the term "the status of the electric motor 20" refers to a temperature and a voltage of the electric motor 20, the number of the electric motor 20 in operation, and the like.
  • the temperature of the electric motor 20 is detected by the temperature detection means 52.
  • a detection signal from the means 52 is transmitted to the electric motor status detection means 41 to thereby detect the status of the electric motor 20.
  • the number of the electric motor 20 in operation, and the like are detected by the operating number detection means 53.
  • a detection signal from the means 53 is transmitted to the electric motor status detection means 41.
  • step S16 the torque computation means 42 in the ECU 33 computes a reaction force for the reaction motor 29.
  • step S17 a signal indicating the reaction force computed is transmitted from the reaction motor control means 43 in the ECU 33 to the reaction motor 29. Then, reaction control by the reaction motor 29 is performed, and the process then returns to step S10.
  • the electric motor 20 is actuated with excellent responsiveness invariably, and thus the operator can obtain an excellent feel of operation when deflecting the rudder.
  • a reaction force from the reaction motor 29 is increased to limit an increase in the rudder deflection force.
  • the steering wheel 17 becomes heavier when the rudder is deflected in the direction opposite to a direction which receives a reaction force to the propeller, as shown in FIG. 3, than when the rudder is deflected in a direction which receives a reaction force to the propeller. In this embodiment, therefore, a reaction force from the reaction motor 29 is increased correspondingly.
  • a reaction force from the reaction motor 29 is increased in a manner making an operation feel of the steering wheel 17 heavier to thereby prevent exceeding the limit of rudder deflection ability.
  • the watercraft When selectively accelerating or decelerating, the watercraft generates a propulsive force larger than that during cruising at a certain speed, which causes a reaction force to the propeller to increase.
  • a reaction force from the reaction motor 29 is increased in a manner making an operation feel of the steering wheel 17 heavier to thereby prevent exceeding the limit of rudder deflection ability.
  • a rudder deflection load increases as the installation number of the outboard motor 12 increases.
  • a rudder deflection load increases as the propeller increases in size.
  • a rudder deflection load increases in one direction depending on a rotational direction of the propeller.
  • a rudder deflection load increases depending on the tab trim size.
  • a rudder deflection load increases when a tab trim angle is deviating from a reference position corresponding to a watercraft speed, a trim angle, and a waterline.
  • a reaction force from the reaction motor 29 is increased in a manner making an operation feel of the steering wheel 17 heavier to thereby prevent exceeding the limit of rudder deflection ability.
  • rudder deflection load characteristics will not be the same between rudder deflection to the left and rudder deflection to the right.
  • a propulsive force is adjusted, depending on whether the outboard motor 12 generating the propulsive force is on the left or the right in the width direction of the watercraft, or the outboard motor 12 having a smaller trim angle and thereby a deeper underwater depth is on the left or the right in the width direction of the watercraft (the propulsive force is decreased when the rudder is returned from a deflected position to the side on which the outboard motor 12 of a deeper underwater depth is installed).
  • the number of the electric motor 20 in operation is detected, and for the fewer motor in operation, a reaction force from the motor 29 is increased. More specifically, as the number of the motor operable is fewer, a reaction force from the motor 29 is increased to thereby prevent exceeding the limit of the ability of the electric motor 20, e.g., in the case of a plurality of the electric motors 20 in use, if any of them is not operable due to a failure or the like; or in the case where a watercraft is equipped with a plurality of the outboard motors 12 operatively coupled to each other for the same rudder deflecting movement, each outboard motor 12 having the electric motor 20, when part of the outboard motors 12 is inactivated and the associated electric motor 20 is also inactivated, so that the rudder deflection is performed using the rest of the electric motors 20.
  • the outboard motor 12 is deflected by the electric motor 20.
  • an operation feel of the steering wheel 17 can be lighter; however, in the case where larger torque is required for rudder deflection for example, when the operator operates the steering wheel 17 faster, output from the electric motor 20 may become less responsive, resulting in a poorer operation feel of the rudder deflecting operation.
  • output from the reaction motor 29 is controlled to make an operation feel of the steering wheel 17 heavier to thereby prevent exceeding the limit of the motor characteristics of the electric motor.
  • the operation speed of the steering wheel becomes slower, and the outboard motor 12 is deflected within the limit of the output of the electric motor 20.
  • a poorer operation feel during the rudder deflecting operation can be avoided.
  • a running status or an electric motor status e.g., a watercraft speed, a trim angle, the weight, an acceleration, a deceleration, or a propulsive force
  • the relationship between rudder deflection angles and rudder deflection forces will change from the characteristics shown by solid line in FIG. 6(b) to the characteristics as shown in broken line in the figure. Accordingly, when a rudder deflection angle or a rudder deflection speed is the same as that in position a1 of the characteristics shown in solid line, a rudder deflection force increases as that in position a2 of the characteristics shown in broken line.
  • a rudder deflection angle or a rudder deflection speed decreases as that in position a3 of the characteristics shown in broken line. It should be understood that a rudder deflection angle depends on a reaction force to the rotation of the propeller, an inclination of the watercraft, a direction and a force of wind, a direction and a flow speed of a tidal current, and a direction in which the rudder is deflected.
  • an upper limit is set for changes in reaction force as shown in FIG. 8(a), thereby providing moderate motor characteristics during a sudden increase in load as shown by broken line in FIG. 8(b).
  • a sudden change in load force e.g., acceleration or deceleration, or landing on water after a jump
  • a sudden change in reaction force can be prevented as shown by broken line in FIG. 8(d).
  • the outboard motor 12 is used as the "watercraft propulsion unit," the present teaching is not limited to this, but it may be replaced by an inboard-outdrive engine.
  • the foregoing embodiment includes the operation status detection means 38, the running status detection means 39, the outboard motor status recognition means 40 and the electric motor status detection means 41. However, it is only required that at least one of those means is provided.
  • a steering device for a watercraft including: a watercraft propulsion unit at a stern of the watercraft; a steering device including an electric actuator for actuating the steering device, the steering device changing a direction in which the watercraft travels; a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator; a reaction actuator for applying a reaction force to the steering wheel; and control means for controlling the reaction actuator, the control means including: at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, running status detection means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of the watercraft propulsion unit, such as the installation number thereof, and electric actuator status detection means for detecting a status of the electric actuator; torque computation means for computing a torque target value based on the detection value from the
  • a preferred second aspect provides the steering device for a watercraft in accordance with the first aspect, in which the operation status detection means includes at least one of rudder deflection force detection means for detecting a rudder deflection force required for the rudder deflection, load detection means for detecting a load to the rudder, steering operation detection means for detecting a steering wheel operation angle, a steering wheel operation speed and a direction in which the steering wheel is operated, rudder deflection detection means for detecting a rudder deflection angle, a rudder deflection speed and a direction in which the rudder is deflected, corresponding to the steering wheel operation, and deviation detection means for detecting a deviation of a detected actual rudder deflection angle from a target rudder deflection angle corresponding to the steering wheel operation.
  • rudder deflection force detection means for detecting a rudder deflection force required for the rudder deflection
  • load detection means for detecting a load to the r
  • a preferred third aspect provides the steering device for a watercraft in accordance with the first or second aspect, in which the running status detection means includes at least one of weight detection means for detecting at least one of a position of a waterline and a weight of the watercraft, trim angle detection means for detecting a trim angle of the watercraft, and speed detection means for detecting at least one of a speed, an acceleration and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • a preferred fourth aspect provides the steering device for a watercraft in accordance with any one of the first to third aspects, in which the watercraft propulsion unit status recognition means includes operation storage means for storing therein any one of pieces of information on the installation number of the watercraft propulsion unit, an installation position of the watercraft propulsion unit relative to the watercraft, a rotational direction of a propeller of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.
  • a preferred fifth aspect provides the steering device for a watercraft in accordance with any one of the first to fourth aspects, in which the electric actuator status detection means is connected to temperature detection means for detecting a temperature of the electric actuator.
  • a preferred sixth aspect provides the steering device for a watercraft in accordance with any one of the first to fifth aspects, in which the electric actuator status detection means includes operating number detection means for detecting the number of the electric actuator in operation.
  • a preferred seventh aspect provides a watercraft provided with the steering device for a watercraft in accordance with any one of the first to sixth aspects.
  • control means includes at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, running status detection means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of the watercraft propulsion unit, such as the installation number thereof, and electric actuator status detection means for detecting a status of the electric actuator.
  • the control means also includes torque computation means for computing a torque target value based on the detection value from the at least one of the means, and reaction actuator control means for controlling the reaction actuator in accordance with the torque target value computed by the torque computation means.
  • a steering device for a watercraft comprising: a watercraft propulsion unit at a stern of the watercraft; a steering device including an electric actuator for actuating the steering device, the steering device changing a direction in which the watercraft travels; a steering wheel, operable by an operator, electrically connected to the electric actuator to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric actuator; a reaction actuator for applying a reaction force to the steering wheel; and control means for controlling the reaction actuator, the control means including: at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, running status detection means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of the watercraft propulsion unit, such as the installation number thereof, and electric actuator status detection means for detecting a status of the electric actuator; torque computation means for computing a torque target value based on the detection value from the at least one of the means; and reaction
  • the operation status detection means includes at least one of rudder deflection force detection means for detecting a rudder deflection force required for the rudder deflection, load detection means for detecting a load to the rudder, steering operation detection means for detecting a steering wheel operation angle, a steering wheel operation speed and a direction in which the steering wheel is operated, rudder deflection detection means for detecting a rudder deflection angle, a rudder deflection speed and a direction in which the rudder is deflected, corresponding to the steering wheel operation, and deviation detection means for detecting a deviation of a detected actual rudder deflection angle from a target rudder deflection angle corresponding to the steering wheel operation.
  • the running status detection means includes at least one of weight detection means for detecting at least one of a position of a waterline and a weight of the watercraft, trim angle detection means for detecting a trim angle of the watercraft, and speed detection means for detecting at least one of a speed, an acceleration and a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • the watercraft propulsion unit status recognition means includes operation storage means for storing therein any one of pieces of information on the installation number of the watercraft propulsion unit, an installation position of the watercraft propulsion unit relative to the watercraft, a rotational direction of a propeller of the watercraft propulsion unit, a propeller shape, a trim tab angle and a trim tab shape.
  • the electric actuator status detection means is connected to temperature detection means for detecting a temperature of the electric actuator.
  • the electric actuator status detection means includes operating number detection means for detecting the number of the electric actuator in operation.
  • an embodiment comprising a steering wheel 17, operable by an operator, electrically connected to an electric motor to provide an actuation signal corresponding to the amount of a steering wheel operation to the electric motor, a reaction motor 29 for applying a reaction to the steering wheel 17, and an ECU 33 for controlling the electric motor 29 are provided.
  • the ECU 33 includes at least one of operation status detection means for detecting an operation status corresponding to the steering wheel operation, running status detection means for detecting a running status of the watercraft, outboard motor status recognition means for recognizing a status of the outboard motor 12, such as the installation number thereof, and electric motor status detection means for detecting a status of the electric motor. Further, the ECU 33 also includes torque computation means for making a torque target value larger depending on the detection value from the at least one of the means, and reaction motor control means for controlling the reaction motor 29 in accordance with the torque target value computed by the torque computation means.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering Devices For Bicycles And Motorcycles (AREA)
  • Power Steering Mechanism (AREA)
EP20070022326 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug Active EP1923308B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2006312161A JP5132132B2 (ja) 2006-11-17 2006-11-17 船舶用操舵装置及び船舶
JP2006312184A JP4884177B2 (ja) 2006-11-17 2006-11-17 船舶用操舵装置及び船舶
JP2006312172A JP4994006B2 (ja) 2006-11-17 2006-11-17 船舶用操舵装置及び船舶
JP2006312228A JP2008126775A (ja) 2006-11-17 2006-11-17 船舶用転舵装置、及び船舶

Publications (3)

Publication Number Publication Date
EP1923308A2 true EP1923308A2 (de) 2008-05-21
EP1923308A3 EP1923308A3 (de) 2011-05-25
EP1923308B1 EP1923308B1 (de) 2013-06-19

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EP07022323A Withdrawn EP1923306A3 (de) 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug
EP20070022329 Active EP1923309B1 (de) 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug
EP20070022326 Active EP1923308B1 (de) 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug
EP20070022320 Active EP1923307B1 (de) 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug

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EP20070022320 Active EP1923307B1 (de) 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
EP3006327B1 (de) 2014-10-06 2018-05-16 ABB Schweiz AG Steuersystem für ein Schiff
CN111232177A (zh) * 2020-02-18 2020-06-05 大连海事大学 一种船用电动舵机伺服装置
US11372411B1 (en) 2019-08-08 2022-06-28 Brunswick Corporation Marine steering system and method
US12065230B1 (en) 2022-02-15 2024-08-20 Brunswick Corporation Marine propulsion control system and method with rear and lateral marine drives
US12110088B1 (en) 2022-07-20 2024-10-08 Brunswick Corporation Marine propulsion system and method with rear and lateral marine drives
US12134454B1 (en) 2022-07-20 2024-11-05 Brunswick Corporation Marine propulsion system and method with single rear drive and lateral marine drive
US12258115B2 (en) 2022-07-20 2025-03-25 Brunswick Corporation Marine propulsion system and joystick control method

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DE102010001102A1 (de) 2009-11-06 2011-05-12 Becker Marine Systems Gmbh & Co. Kg Anordnung zur Ermittlung einer auf ein Ruder wirkenden Kraft
NL2008122C2 (en) * 2012-01-16 2013-07-18 Wetterwille Beheer B V De Marine steering system.
CN103112576B (zh) * 2013-01-08 2016-03-30 中国船舶重工集团公司第七一○研究所 一种舵机控制方法
EP4397588A1 (de) * 2014-07-08 2024-07-10 Dometic Marine Canada Inc. Elektrischer aktuator für ein schiffssteuersystem
CN110155294B (zh) * 2019-05-24 2021-01-01 广东逸动科技有限公司 船用推进器电动转向系统的控制方法
CN110155293B (zh) * 2019-05-24 2021-04-27 广东逸动科技有限公司 船用推进器电动转向系统、船用推进器及船艇
CN111720225A (zh) * 2020-06-19 2020-09-29 苏州百胜动力机器股份有限公司 一种基于倾角监测的船舶转向安全驾驶控制系统
WO2024221352A1 (zh) * 2023-04-27 2024-10-31 广东逸动科技有限公司 控制方法、动力装置、方向盘、推进系统及相关装置

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3006327B1 (de) 2014-10-06 2018-05-16 ABB Schweiz AG Steuersystem für ein Schiff
US11372411B1 (en) 2019-08-08 2022-06-28 Brunswick Corporation Marine steering system and method
US12007771B1 (en) 2019-08-08 2024-06-11 Brunswick Corporation Marine steering system and method
US12429870B1 (en) 2019-08-08 2025-09-30 Brunswick Corporation Marine steering system and method
CN111232177A (zh) * 2020-02-18 2020-06-05 大连海事大学 一种船用电动舵机伺服装置
US12065230B1 (en) 2022-02-15 2024-08-20 Brunswick Corporation Marine propulsion control system and method with rear and lateral marine drives
US12110088B1 (en) 2022-07-20 2024-10-08 Brunswick Corporation Marine propulsion system and method with rear and lateral marine drives
US12134454B1 (en) 2022-07-20 2024-11-05 Brunswick Corporation Marine propulsion system and method with single rear drive and lateral marine drive
US12258115B2 (en) 2022-07-20 2025-03-25 Brunswick Corporation Marine propulsion system and joystick control method

Also Published As

Publication number Publication date
EP1923306A3 (de) 2011-05-18
EP1923309A3 (de) 2011-05-25
EP1923309B1 (de) 2013-05-01
EP1923306A2 (de) 2008-05-21
EP1923308A3 (de) 2011-05-25
EP1923308B1 (de) 2013-06-19
EP1923309A2 (de) 2008-05-21
EP1923307B1 (de) 2013-02-20
EP1923307A3 (de) 2011-05-25
EP1923307A2 (de) 2008-05-21

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