JPH051695U - Fin stabilizer control device for high-speed boat - Google Patents
Fin stabilizer control device for high-speed boatInfo
- Publication number
- JPH051695U JPH051695U JP4680391U JP4680391U JPH051695U JP H051695 U JPH051695 U JP H051695U JP 4680391 U JP4680391 U JP 4680391U JP 4680391 U JP4680391 U JP 4680391U JP H051695 U JPH051695 U JP H051695U
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- Prior art keywords
- hull
- turning
- calculator
- lateral
- angle
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- 239000003381 stabilizer Substances 0.000 title claims abstract description 22
- 230000001133 acceleration Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000035807 sensation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
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Abstract
(57)【要約】 （修正有）
【目的】 船体がほぼ直進状態にあるときは通常のフィ
ンスタビライザーと同様に船体の横揺れを軽減できるよ
うにし、船体の旋回時には船体を適切に横傾斜させて釣
り合い旋回を行なえるようにした。
【構成】 船底部において両側に対をなして配設された
水中翼１と翼角調節機構６、船体の横傾斜角センサ２ａ
および船体の横傾斜角速度センサ２ｂからの検出信号
φ，dφ／dtに基づき、翼角調節機構６へ制御信号φ1を
送る通常制御系７とをそなえ、船体10の旋回時にも、舵
角センサ４からの検出信号φRに基づき船体の旋回時間
Ｔを演算する旋回時間演算器８ａと、旋回半径演算器８
ｂと、旋回半径Ｒと旋回時間Ｔとに基づき船体の横加速
度αを演算する横加速度演算器８ｃと、横加速度αに基
づき旋回時船体横傾斜角θを演算する旋回時船体横傾斜
角演算器８ｄと、旋回時船体横傾斜角演算器８ｄからの
出力信号θと通常制御系７からの制御信号φ1との差を
演算して水中翼の指令信号演算器９とが設けられてい
る。
(57) [Summary] (Modified) [Purpose] When the hull is in a straight-ahead state, it is possible to reduce the rolling of the hull like a normal fin stabilizer, and to tilt the hull appropriately when turning. I was able to make a balanced turn. [Structure] Hydrofoil 1 and wing angle adjusting mechanism 6 arranged in pairs on both sides at the bottom of the ship, lateral inclination angle sensor 2a of the hull
And a normal control system 7 that sends a control signal φ 1 to the blade angle adjusting mechanism 6 based on the detection signals φ and dφ / dt from the lateral inclination angular velocity sensor 2b of the hull, and the rudder angle sensor is also provided when the hull 10 turns. A turning time calculator 8a for calculating the turning time T of the hull based on the detection signal φ R from the No. 4 and a turning radius calculator 8
b, a lateral acceleration calculator 8c that calculates the lateral acceleration α of the hull based on the turning radius R and the turning time T, and a lateral hull inclination angle calculation that calculates the lateral hull inclination angle θ during the turning based on the lateral acceleration α 8d, and a hydrofoil command signal calculator 9 that calculates the difference between the output signal θ from the turning hull lateral tilt angle calculator 8d and the control signal φ 1 from the normal control system 7. .
Description
【０００１】[0001]
本考案は、高速艇に用いて好適のフィンスタビライザー装置に関し、特に船体 がほぼ直進状態にあるときは通常のフィンスタビライザーと同様に船体の横揺れ を軽減できるようにしながら、船体の旋回時には船体を適切に横傾斜させて釣り 合い旋回を行なえるようにした高速艇用フィンスタビライザー制御装置に関する 。 The present invention relates to a fin stabilizer device suitable for use in a high-speed boat, and in particular, when the hull is in a straight-ahead state, it can reduce the rolling of the hull like a normal fin stabilizer, while the hull is appropriately adjusted when turning. The present invention relates to a fin stabilizer control device for high-speed boats, which is tilted laterally to allow balanced turning.
【０００２】[0002]
一般に、水中翼やその翼角の調節機構等から構成された横揺れ軽減用のフィン スタビライザーを有しない高速艇は、旋回時に船体に働く流体力、舵に働く舵力 、遠心力および重力の釣り合いから、ある傾斜角で船体が内傾斜する。この傾斜 角は、遠心力と重力との合成ベクトルが重力となす角度（釣り合い傾斜角）より は小さいが、上記傾斜角自体はかなり大きいので、上記のフィンスタビライザー を有しない高速艇では、乗員はある程度安定した旋回感覚を得ることができる。 一方、従来のフィンスタビライザー付きの高速艇では、船体がほぼ直進状態に あるときは、上記のフィンスタビライザーが通常の横揺れ軽減装置として働き、 傾斜した船体を正立状態へ復原する。すなわち、船底部両側に対をなして配設さ れた水中翼の翼角が、適切な制御系によって船体の横傾斜センサからの検出信号 に基づいて、油圧装置と翼角センサとで構成された翼角調節機構により制御され るようになっている。 Generally, a high-speed boat without a roll stabilizer fin stabilizer composed of a hydrofoil and its wing angle adjustment mechanism, etc. , The hull tilts inward at a certain tilt angle. Although this inclination angle is smaller than the angle (balanced inclination angle) formed by the combined vector of centrifugal force and gravity (gravity inclination angle), the inclination angle itself is quite large. A stable turning sensation can be obtained. On the other hand, in a conventional high-speed boat with a fin stabilizer, when the hull is almost straight, the fin stabilizer works as a normal roll reduction device to restore the inclined hull to an upright position. That is, the blade angles of hydrofoils arranged in pairs on both sides of the bottom of the ship are composed of a hydraulic system and a blade angle sensor based on the detection signal from the lateral inclination sensor of the hull by an appropriate control system. It is controlled by the blade angle adjustment mechanism.
【０００３】 そして船体の旋回時にも、上記フィンスタビライザーが作動して船体を正立（ 重力方向に対する傾斜がゼロの状態）させようとするため、船体の傾斜角、すな わち流体力、舵力、遠心力と重力の合成ベクトルが重力ベクトルとなす角度は著 しく小さくなるのである。Even when the hull is turning, the fin stabilizer operates to try to erect the hull (inclination with respect to the gravity direction is zero). Therefore, the hull tilt angle, that is, the fluid force, the rudder The angle formed by the combined vector of force, centrifugal force and gravity with the gravity vector is significantly smaller.
【０００４】[0004]
【考案が解決しようとする課題】 ところで、前述のように従来の高速艇用のフィンスタビライザー制御装置は、 船体の旋回時にも船体を直立させるべくフィンスタビライザーの水中翼の翼角の 制御を行なうため、内傾斜を打ち消す方向に上記水中翼の揚力が働いて、本来の 高速艇の特徴であった内傾斜状態で乗員が得られる安定した旋回感覚が損なわれ てしまうという問題点がある。実際には、この場合乗員は遠心力の影響で外向き に投げ出され、踏ん張ったり、物につかまったりする必要が生じて、乗心地を非 常に悪くしてしまう。By the way, as described above, the conventional fin stabilizer control device for a high-speed boat controls the blade angle of the hydrofoil of the fin stabilizer in order to keep the hull upright even when the hull is turning. There is a problem in that the lift of the hydrofoil acts in the direction of canceling the inward inclination, and the stable turning sensation obtained by the occupant in the inwardly inclined state, which was the original feature of high-speed boats, is impaired. Actually, in this case, the occupant is thrown outward due to the influence of centrifugal force, and it is necessary to step on the occupant or get caught by an object, which makes the riding comfort extremely bad.
【０００５】 本考案は、このような問題点の解決をはかろうとするもので、従来の通常制御 系に加えて船体の旋回時には、舵角信号と船速信号とから旋回時の遠心力による 横加速度を求めるとともに、同横加速度と重力加速度との合成方向と鉛直方向（ 重力加速度の方向）とのなす角を演算して、その角度信号に基づいて船体を所要 の内傾斜状態に傾斜させるように水中翼を制御することにより、乗員が安定した 旋回感覚を得られるようにした、高速艇用フィンスタビライザー制御装置を提供 することを目的とする。The present invention is intended to solve such a problem, and in addition to the conventional normal control system, at the time of turning of the hull, a centrifugal force at the time of turning is used from the steering angle signal and the ship speed signal. In addition to obtaining the lateral acceleration, the angle between the combined direction of the lateral acceleration and the gravitational acceleration and the vertical direction (the direction of the gravitational acceleration) is calculated, and the hull is tilted to the required inclining state based on the angle signal. An object of the present invention is to provide a fin stabilizer control device for a high-speed boat, which enables the occupant to obtain a stable turning sensation by controlling the hydrofoil as described above.
【０００６】[0006]
上述の目的を達成するため、本考案の高速艇用フィンスタビライザー制御装置 は、船底部において両側に対をなして配設された水中翼と、同水中翼の翼角を調 節しうる翼角調節機構と、船体の横傾斜角センサおよび船体の横傾斜角速度セン サからの検出信号に基づき、傾斜した船体を正立状態へ復原しうるように上記翼 角調節機構へ制御信号を送る通常制御系とをそなえ、船体の旋回時にも船体横断 面内において船内搭載物が船体中心線と平行な方向に力を受けるべく、舵角セン サからの検出信号に基づき船体の旋回時間を演算する旋回時間演算器と、船速計 からの検出信号と上記旋回時間演算器からの出力信号とに基づき船体の旋回半径 を演算する旋回半径演算器と、同旋回半径演算器からの出力信号と上記旋回時間 演算器からの出力信号とに基づき船体の横加速度を演算する横加速度演算器と、 同横加速度演算器からの出力信号に基づき旋回時船体横傾斜角を演算する旋回時 船体横傾斜角演算器と、同旋回時船体横傾斜角演算器からの出力信号と上記通常 制御系からの制御信号との差を演算して上記水中翼の翼角調節機構へ指令信号を 出力する指令信号演算器とが設けられたことを特徴としている。 In order to achieve the above-mentioned object, the fin stabilizer control device for a high-speed boat of the present invention comprises a hydrofoil arranged in pairs at the bottom of the ship and a vane angle control capable of controlling the vane angle of the hydrofoil. A normal control system that sends a control signal to the wing angle adjustment mechanism so that the tilted hull can be restored to the upright state based on the mechanism and the detection signals from the hull lateral tilt angle sensor and the hull lateral tilt angular velocity sensor. Therefore, the turning time of the hull is calculated based on the detection signal from the rudder angle sensor so that the onboard equipment receives a force in the direction parallel to the hull centerline within the hull crossing plane even when the hull turns. A turning radius calculator that calculates the turning radius of the hull based on the detection signal from the computing unit, the speedometer and the output signal from the turning time computing unit, the output signal from the turning radius computing unit, and the turning time Output from calculator A lateral acceleration calculator that calculates the lateral acceleration of the hull based on the signal, and a turning time that calculates the lateral tilt angle of the hull at the time of turning based on the output signal from the lateral acceleration calculator A command signal calculator for calculating the difference between the output signal from the ship lateral tilt angle calculator and the control signal from the normal control system and outputting a command signal to the hydrofoil blade angle adjusting mechanism is provided. Is characterized by.
【０００７】[0007]
上述の本考案の高速艇用フィンスタビライザー制御装置では、船底部の両側に 対をなして配設された水中翼の翼角調節機構に、舵角信号と船速信号とから演算 された旋回時船体横傾斜角信号に基づいて指令信号を送ることにより、船体の旋 回時に、船体横断面内において船内搭載物が船体中心線と平行な方向に力を受け るように、船体を所要の内傾斜状態に傾斜させる作用が行なわれる。 In the fin stabilizer control device for a high-speed boat of the present invention described above, the wing angle adjusting mechanism for hydrofoils arranged in pairs on both sides of the bottom of the ship has the hull during turning calculated from the steering angle signal and the ship speed signal. By sending a command signal based on the lateral tilt angle signal, the hull can be tilted inward as necessary so that the onboard equipment receives a force in the direction parallel to the hull center line within the hull cross section when the hull is turning. The action of tilting to the state is performed.
【０００８】[0008]
以下、図面により本考案の一実施例としての高速艇用フィンスタビライザー制 御装置について説明すると、図１はそのシステム構成図、図２は図１の各パラメ ータの関係を示す説明図、図３は旋回時船体横傾斜角を示す説明図である。 A fin stabilizer control device for a high-speed boat as one embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a system configuration diagram thereof, FIG. 2 is an explanatory diagram showing a relation of each parameter of FIG. 1, and FIG. FIG. 4 is an explanatory view showing a lateral inclination angle of a hull when turning.
【０００９】 図１〜３に示すように、本実施例では、船体10の底部両側に水中翼１が対をな して配設されるとともに、水中翼１の翼角を調節する機構としての油圧駆動装置 ６が設けられている。As shown in FIGS. 1 to 3, in the present embodiment, hydrofoils 1 are arranged in pairs on both sides of the bottom of the hull 10, and the hydrofoil 1 serves as a mechanism for adjusting the blade angle of the hydrofoil 1. A hydraulic drive device 6 is provided.
【００１０】 そして本高速艇用フィンスタビライザー制御装置５では、横傾斜角(φ)センサ ２ａおよび横傾斜角速度（dφ／dt）センサ２ｂからの検出信号φ、dφ／dｔに 基づき、傾斜した船体を正立状態へ復原しうるように油圧駆動装置６へ制御信号 φ1を送る通常制御系として減揺演算回路７がそなえられている。さらに、本制 御装置５では舵角センサ４からの検出信号φRに基づき船体の旋回時間Ｔを演算 する旋回時間演算器８ａと、船速計３からの検出信号ｖと旋回時間Ｔとにより船 体の旋回半径Ｒを演算する旋回半径演算器８ｂと、旋回半径Ｒと旋回時間Ｔとに より船体の横加速度αを演算する横加速度演算器８ｃと、横加速度αに基づき旋 回時船体横傾斜角θを演算する旋回時船体横傾斜角演算器８ｄとで構成された旋 回時演算系８が設けられている。In the fin stabilizer control device 5 for the high-speed boat, the tilted hull is corrected based on the detection signals φ and dφ / dt from the lateral inclination angle (φ) sensor 2a and the lateral inclination angular velocity (dφ / dt) sensor 2b. A swing calculation circuit 7 is provided as a normal control system for sending a control signal φ 1 to the hydraulic drive device 6 so that the hydraulic drive device 6 can be restored to the standing state. Further, in the control device 5, a turning time calculator 8a for calculating the turning time T of the hull based on the detection signal φ R from the steering angle sensor 4, a detection signal v from the speedometer 3, and a turning time T are used. A turning radius calculator 8b for calculating the turning radius R of the hull, a lateral acceleration calculator 8c for calculating the lateral acceleration α of the hull based on the turning radius R and the turning time T, and a hull during turning based on the lateral acceleration α. A turning time calculation system 8 including a turning hull lateral tilt angle calculator 8d for calculating the lateral tilt angle θ is provided.
【００１１】 また旋回時船体横傾斜角演算器８ｄからの出力信号（旋回時船体横傾斜角）θ と減揺演算回路７からの制御信号φ1との差θ1を演算して水中翼１の油圧駆動装 置６へ指令信号θ1を出力する指令信号演算器９も設けられている。Further, the hydrofoil 1 is calculated by calculating a difference θ 1 between an output signal (horizontal lateral tilt angle during turning) θ from a turning lateral hull angle calculator 8 d and a control signal φ 1 from a swinging calculation circuit 7. A command signal calculator 9 for outputting a command signal θ 1 to the hydraulic drive device 6 is also provided.
【００１２】 なお、それぞれの演算器８ａ〜８ｄ，９では次のような演算が行なわれる。The following arithmetic operations are performed in each of the arithmetic units 8a-8d and 9.
【００１３】 旋回時間演算器８ａ：Ｔ＝ａ／φR（ａは船型等から決まる定数） 旋回半径演算器８ｂ：Ｒ＝ｖ・Ｔ／２π （π：円周率） 横加速度演算器８ｃ：α＝Ｒ・（２π／Ｔ)2 旋回時船体横傾斜角演算器８ｄ：θ＝tan-1（α／g） ≒α／g（α≪g） （g：重力加速度） 指令信号演算器９：θ1＝φ1−θ 以上のような構成により、本実施例では、指令信号演算器９から出力される指 令信号θ1に基づいて翼角調節機構としての油圧駆動装置６により水中翼１を制 御して、船体の旋回時には、船体を横傾斜角度θで内傾斜状態に傾斜させる作用 が行なわれる。Turning time calculator 8a: T = a / φR(A is a constant determined by the boat shape, etc.) Turning radius calculator 8b: R = v · T / 2π (π: circle ratio) Lateral acceleration calculator 8c: α = R · (2π / T)2 Lateral tilt angle calculator for turning 8d: θ = tan-1(Α / g) ≒ α / g (α << g) (g: Gravity acceleration) Command signal calculator 9: θ1= Φ1-Θ With the above configuration, in the present embodiment, the command signal θ output from the command signal calculator 91Based on the above, the hydraulic drive device 6 as a blade angle adjusting mechanism controls the hydrofoil 1 to incline the hull at an inclining state at a lateral tilt angle θ when the hull turns.
【００１４】 これにより、乗船者は船体横断面内において船体中心線と平行な方向に力を受 けるのみで、横加速度は感じないため、乗心地は大幅に改善される。また、旋回 中にも通常航行時と同様に減揺を行なうことができるという利点も得られる。As a result, the occupant only receives a force in a direction parallel to the hull centerline within the hull cross section, and does not feel lateral acceleration, so that the riding comfort is greatly improved. Moreover, there is an advantage that the swing can be performed during turning as well as during normal navigation.
【００１５】[0015]
以上詳述したように、本考案の高速艇用フィンスタビライザー制御装置によれ ば、従来から装備されている舵角センサや船速計からの出力信号に基づいて旋回 時の制御を行なうという簡便な手段で、次のような効果ないし利点が得られる。 (1) 乗船者が旋回時の横加速度を感じなくなるので、乗心地が改善される。 (2) 旋回中も直進時と同様に減揺制御を行なうことができる。 (3) 一般のフィンスタビライザーに比べてもコストはあまりアップさせることな く、旋回時制御系が設けられる。 As described in detail above, according to the fin stabilizer control device for a high-speed boat of the present invention, a simple means for performing control during turning based on the output signals from the rudder angle sensor and the speedometer, which are conventionally equipped Thus, the following effects or advantages can be obtained. (1) Since passengers do not feel lateral acceleration when turning, riding comfort is improved. (2) The swing control can be performed during turning as in the case of going straight. (3) A turning control system is provided without increasing the cost much compared to general fin stabilizers.
【図１】本考案の一実施例としての高速艇用フィンスタ
ビライザー制御装置を示すシステム構成図である。FIG. 1 is a system configuration diagram showing a fin stabilizer control device for a high-speed boat as one embodiment of the present invention.
【図２】図１の各パラメータの関係を示す説明図であ
る。FIG. 2 is an explanatory diagram showing a relationship of each parameter of FIG.
【図３】図１の旋回時船体横傾斜角θを示す説明図であ
る。FIG. 3 is an explanatory view showing a lateral inclination angle θ of the hull during turning shown in FIG. 1.
１ 水中翼 ２ａ 横傾斜角センサ ２ｂ 横傾斜角速度センサ ３ 船速計 ４ 舵角センサ ５ 高速艇用フィンスタビライザー制御装置 ６ 油圧駆動装置（翼角調節機構） ７ 減揺演算回路７（通常制御系） ８ 旋回時演算系 ８ａ 旋回時間演算器 ８ｂ 旋回半径演算器 ８ｃ 横加速度演算器 ８ｄ 旋回時船体横傾斜角演算器 ９ 指令信号演算器 10 船体 11 舵 φ 横傾斜角 dφ／dt 横傾斜角速度 φR 舵角 ｖ 船速 φ1 制御信号 Ｔ 旋回時間 Ｒ 旋回半径 α 横加速度 θ 旋回時船体横傾斜角 θ1 指令信号 ｇ 重力加速度1 Hydrofoil 2a Lateral tilt angle sensor 2b Lateral tilt angular velocity sensor 3 Vessel speed gauge 4 Rudder angle sensor 5 Fin stabilizer control device for high speed boat 6 Hydraulic drive device (wing angle adjustment mechanism) 7 Vibration reduction calculation circuit 7 (normal control system) 8 during turning operation system 8a turning time calculator 8b turning radius calculator 8c lateral acceleration calculator 8d during turning hull heeling angle calculator 9 command signal calculator 10 hull 11 steering phi lateral inclination d.phi / dt lateral tilt angular phi R steering Angle v Ship speed φ 1 Control signal T Turning time R Turning radius α Lateral acceleration θ Hull lateral inclination angle during turning θ 1 Command signal g Gravity acceleration
Claims (1)
れた水中翼と、同水中翼の翼角を調節しうる翼角調節機
構と、船体の横傾斜角センサおよび船体の横傾斜角速度
センサからの検出信号に基づき、傾斜した船体を正立状
態へ復原しうるように上記翼角調節機構へ制御信号を送
る通常制御系とをそなえ、船体の旋回時にも船体横断面
内において船内搭載物が船体中心線と平行な方向に力を
受けるべく、舵角センサからの検出信号に基づき船体の
旋回時間を演算する旋回時間演算器と、船速計からの検
出信号と上記旋回時間演算器からの出力信号とに基づき
船体の旋回半径を演算する旋回半径演算器と、同旋回半
径演算器からの出力信号と上記旋回時間演算器からの出
力信号とに基づき船体の横加速度を演算する横加速度演
算器と、同横加速度演算器からの出力信号に基づき旋回
時船体横傾斜角を演算する旋回時船体横傾斜角演算器
と、同旋回時船体横傾斜角演算器からの出力信号と上記
通常制御系からの制御信号との差を演算して上記水中翼
の翼角調節機構へ指令信号を出力する指令信号演算器と
が設けられたことを特徴とする、高速艇用フィンスタビ
ライザー制御装置。[Claims for utility model registration] Claims: 1. Hydrofoils arranged in pairs at the bottom of the ship, a vane angle adjusting mechanism for adjusting the vane angle of the hydrofoils, and a lateral inclination of the hull. Based on the detection signals from the angle sensor and the lateral inclination angular velocity sensor of the hull, it is equipped with a normal control system that sends a control signal to the wing angle adjustment mechanism so that the inclined hull can be restored to the upright state. In order to receive the force on the onboard equipment in the direction parallel to the hull center line within the hull cross section, the turning time calculator that calculates the turning time of the hull based on the detection signal from the rudder angle sensor and the speedometer from the speedometer Based on the turning radius calculator for calculating the turning radius of the hull based on the detection signal and the output signal from the turning time calculator, based on the output signal from the turning radius calculator and the output signal from the turning time calculator Calculate the lateral acceleration of the hull An acceleration calculator and a lateral hull angle calculator for turning, which calculates a lateral hull angle during turning based on an output signal from the lateral acceleration calculator, and an output signal from the lateral hull angle calculator for turning A fin stabilizer control device for a high-speed boat, comprising: a command signal calculator that calculates a difference from a control signal from a normal control system and outputs a command signal to the blade angle adjusting mechanism of the hydrofoil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4680391U JP2529920Y2 (en) | 1991-05-24 | 1991-05-24 | Fin stabilizer controller for high-speed boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4680391U JP2529920Y2 (en) | 1991-05-24 | 1991-05-24 | Fin stabilizer controller for high-speed boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH051695U true JPH051695U (en) | 1993-01-14 |
| JP2529920Y2 JP2529920Y2 (en) | 1997-03-26 |
Family
ID=12757493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4680391U Expired - Lifetime JP2529920Y2 (en) | 1991-05-24 | 1991-05-24 | Fin stabilizer controller for high-speed boat |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2529920Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6299383U (en) * | 1985-12-14 | 1987-06-24 | ||
| JP2017515742A (en) * | 2014-05-16 | 2017-06-15 | ナウティ−クラフト ピーティーワイ リミティッド | Control of multi-hull ships |
-
1991
- 1991-05-24 JP JP4680391U patent/JP2529920Y2/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6299383U (en) * | 1985-12-14 | 1987-06-24 | ||
| JP2017515742A (en) * | 2014-05-16 | 2017-06-15 | ナウティ−クラフト ピーティーワイ リミティッド | Control of multi-hull ships |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2529920Y2 (en) | 1997-03-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19961022 |
|
| EXPY | Cancellation because of completion of term |