EP1923307B1 - Lenksystem für ein Wasserfahrzeug - Google Patents

Lenksystem für ein Wasserfahrzeug Download PDF

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Publication number
EP1923307B1
EP1923307B1 EP20070022320 EP07022320A EP1923307B1 EP 1923307 B1 EP1923307 B1 EP 1923307B1 EP 20070022320 EP20070022320 EP 20070022320 EP 07022320 A EP07022320 A EP 07022320A EP 1923307 B1 EP1923307 B1 EP 1923307B1
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EP
European Patent Office
Prior art keywords
watercraft
rudder
detection means
rudder turning
status
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.)
Active
Application number
EP20070022320
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English (en)
French (fr)
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EP1923307A2 (de
EP1923307A3 (de
Inventor
Makoto c/o Yamaha Marine Kabushiki Kaisha 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
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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 JP2006312184A external-priority patent/JP4884177B2/ja
Priority claimed from JP2006312161A external-priority patent/JP5132132B2/ja
Priority claimed from JP2006312228A external-priority patent/JP2008126775A/ja
Priority claimed from JP2006312172A external-priority patent/JP4994006B2/ja
Application filed by Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Publication of EP1923307A2 publication Critical patent/EP1923307A2/de
Publication of EP1923307A3 publication Critical patent/EP1923307A3/de
Application granted granted Critical
Publication of EP1923307B1 publication Critical patent/EP1923307B1/de
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    • 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 system for a watercraft, and in particular to a watercraft steering device having an electric actuator which is actuated as an operator operates a steering wheel for turning a rudder, and a watercraft provided with the steering device.
  • Prior art document US 2005/0199168 A1 discloses an electric steering apparatus that includes a rudder device driven by an electric motor, a steering wheel for operation by an operator to control the angle of the rudder device, a reaction torque motor for applying a reaction force to the steering wheel, a load sensor for detecting an external force acting on a boat or the rudder during steering, and a reaction torque calculator circuit for calculating a target torque for the reaction motor according to an input of the load sensor.
  • the reaction torque calculation circuit can be configured to receive boat information regarding the trim angle, propeller size, and the like, detection data from a speed sensor that can be configured to detect a speed of the boat, and an engine speed data from an engine speed sensor.
  • the reaction torque calculation circuit can be configured to calculate a target torque for a reaction force to be applied to the steering wheel.
  • a reaction torque is applied to the steering wheel based on an external force to the watercraft.
  • An operator can feel such an external force applied to the watercraft due to 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 feeling of the steering wheel can be lighter.
  • output from the steering motor when the steering wheel is operated faster, output from the steering motor (electric actuator) becomes less responsive.
  • 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 an external force to thereby act without delay.”
  • rudder turning torque characteristic required for turning the rudder may change from the state shown by required rudder turning force characteristic line A1 to the state shown by required rudder turning force characteristic line A2, depending on a characteristic of the watercraft, a rudder turning angle, a steerage speed, and so forth. In such a case, a required rudder turning force may exceed the limit of the motor ability.
  • motor characteristic depends on the ambient condition such as temperature.
  • the motor characteristic 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).
  • a required rudder turning force exceeds the limit of the motor ability and responsiveness may be impaired.
  • an object of the present invention to provide a steering system for a watercraft and a watercraft with such steering system that enable rudder turning with constant effectiveness and excellent operation feeling corresponding to a running status of the watercraft.
  • a steering system for a watercraft comprising: a watercraft propulsion unit, a steering device actuated by an actuator for changing a direction in which the watercraft travels, and a steering amount input means, operable by an operator, and electrically connected to the actuator to provided an actuation signal corresponding to an operation amount of the actuator, at least one of steerage status detection means for detecting a steerage status following an operation of the steering amount input means, 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 an installation number thereof, and actuator status detection means for detecting a status of the actuator; and comprising rudder turning force characteristic computation means for computing a rudder turning force characteristic based on a detection value from at least one of the detection and recognition means; and determination means for determining that a rudder turning ability of the actuator satisfies the rudder turning force characteristic, control means for actuation of rudder turning on
  • the watercraft propulsion unit in particular arranged at a stern of the watercraft, is used as the rudder.
  • the actuator configured to change a direction in which the watercraft travels is an electric actuator.
  • control means includes reaction actuator control means for controlling a reaction force to the steering amount input means, rudder turning angle control means for controlling a limit rudder turning force, and propulsive force control means for controlling a propulsive force.
  • control means controls a reaction force to the steering amount input means, a limit rudder turning angle, and a propulsive force based on a steerage status detected by the steerage status detection means, a running status detected by the running status detection means, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition means, and a motor characteristic status detected by the motor detection means.
  • the steerage status detection means includes at least one of rudder turning force detection means for detecting a rudder turning force required for a rudder turning following the operation of the steering amount input means, load detection means for detecting a load acting on the rudder, steerage detection means for detecting a steering amount input means steerage angle, a steering amount input means steerage speed, a direction in which the steering amount input means is operated, a rudder turning angle, a rudder turning speed, and a direction in which the rudder is turned, corresponding to an operation of the steering amount input means, and deviation detection means for detecting a deviation between a target rudder turning angle position corresponding to an operation of the steering amount input means and an actual rudder turning angle.
  • the running status detection means includes at least one of weight detection means for detecting at least one of a draft position 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, a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • the watercraft propulsion unit status recognition means includes steerage storage means for storing therein any one of information among an 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 provided in 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 includes at least one of temperature detection means for detecting a temperature of the electric actuator, and operating number detection means for detecting a number of the electric actuator in operation among a plurality of the electric actuator.
  • 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.
  • FIGs. 1 through 11 shows an embodiment
  • 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 a 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 operated and driven by a steering wheel 17 disposed in an operator's seat.
  • 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 support members 22.
  • the support members 22 are supported by a tilt shaft 23.
  • the electric motor 20 has a coupling bracket 24 protruding rearward.
  • the coupling bracket 24 and the steering bracket 15 are coupled with each other via a coupling pin 25.
  • the outboard motor 12 pivots 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 is provided with a steering wheel steerage angle sensor 28 for detecting a steerage angle of the steering wheel 17, and a reaction motor 29 for applying a desired reaction force to the steering wheel 17 during an operation of the steering wheel 17 by an 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 steerage angle sensor 28, controls the electric motor 20, and controls the reaction motor 29 and an engine of the outboard motor 12.
  • the control unit 33 is provided with steerage status detection means 38 for detecting a steerage 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 installation 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 rudder turning force characteristic computation means 37 for computing a rudder turning force characteristic based on detection values from those means 38...
  • reaction motor control means 42 as “reaction actuator control means” for controlling a reaction force to the steering wheel 17, rudder turning angle control means 43 for reducing a limit rudder turning angle, propulsive force control means 44 for controlling a propulsive force, and selection control means 56 for selecting the electric motor 20 to be operated.
  • the steerage status detection means 38 is connected to rudder turning force detection means 46 for detecting a rudder turning force required for turning the rudder, load detection means 55 for detecting a load acting on the rudder, steerage detection means 47 for detecting a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a rudder turning angle, a rudder turning speed, and a direction in which the rudder is turned, corresponding to the operation of the steering wheel, and deviation detection means 45 for detecting a deviation of a detected actual rudder turning angle from a target rudder turning angle corresponding to the steering wheel operation, as shown in FIG. 4 .
  • the steering wheel steerage angle sensor 28 provided in the steerage detection means 47 detects a steerage angle.
  • the running status detection means 39 is connected to weight detection means 48 for detecting a draft position and a 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, and PTT actuation status detection means (not shown) for detecting a PTT actuation status.
  • the outboard motor status recognition means 40 is connected to steerage storage means 51 for storing therein information about an installation number of the outboard motor 12, an installation position of the outboard motor 12 relative to the watercraft, a rotational direction, a size, and a shape of a propeller provided in the outboard motor 12, a trim tab angle, a trim tab shape, and the like. It is a matter of course that the steerage storage means 51 can be included in the ECU 33.
  • the electric motor status detection means 41 is connected to temperature detection means 52 for detecting a temperature of the electric motor 20, and operating number detection means 53 for detecting a number of the electric motor 20 in operation among a plurality of the electric motors 20 and which electric motor 20 is in operation in the case that a plurality of the outboard motors 12 are mounted and a plurality of the electric motors 20 are provided, and so forth.
  • a signal is sent from the steering wheel steerage angle sensor 28 of the steerage detection means 47 to the ECU 33.
  • a target rudder turning angle is detected by the steerage status detection means 38, and a deviation between the target rudder turning angle and an actual angle of the rudder (target control deviation) is computed.
  • a steerage status is detected by the steerage status detection means 38 in step S10 in FIG. 5 .
  • a steerage status means statuses such as a required rudder turning force corresponding to an operation of the steering wheel, a load acting on the rudder (the outboard motor 12), a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a rudder (the outboard motor 12) turning angle, a rudder turning speed, and a direction in which the rudder is turned, corresponding to the operation of the steering wheel, a deviation mentioned above, and so forth.
  • a rudder turning force required for a rudder turning corresponding to an operation of the steering wheel is detected by the rudder turning force detection means 46.
  • Load acting on the rudder is detected by the load detection means 55.
  • a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a rudder turning angle, a rudder turning speed, a direction in which the rudder is turned, corresponding to the operation of the steering wheel, are detected by the steerage detection means 47.
  • Those detection signals are sent to the steerage status detection means 38, and thereby a steerage status is detected.
  • a running status is detected by the running status detection means 39 in step S11.
  • a running status means statuses such as a draft position, a weight and a trim angle of the watercraft, a speed, an acceleration, a deceleration and a propulsive force of the watercraft, and an output of the outboard motor 12, and so forth.
  • the draft position and the weight of the watercraft are detected by the weight detection means 48.
  • a trim angle of the watercraft is detected by the trim angle detection means 49.
  • the speed, the acceleration, the propulsive force of the watercraft and the output of the outboard motor 12 are detected by the speed detection means 50. Those detection signals are sent to the running status detection means 39, and thereby a running status is detected.
  • a status of the outboard motor 12 is recognized by the outboard motor status recognition means 40 in step S12.
  • a status of the outboard motor means statuses such as an installation number of the outboard motor 12, an installation position of the outboard motor 12 relative to the watercraft, a rotational direction of the propeller provided in the outboard motor 12, a propeller size, a propeller shape, a trim tab angle and a trim tab shape, and so forth.
  • Information about an installation number of the outboard motor 12, an installation position of the outboard motor 12 relative to the watercraft, and the rotational direction of the propeller provided in the outboard motor 12 is stored in the steerage storage means 51. This information is read out and sent to the outboard motor status recognition means 40, and thereby a status of the outboard motor 12 is recognized.
  • a status of the electric motor 20 is detected by the electric motor status detection means 41 in step S13.
  • a status of the electric motor 20 is a status of a factor which has an affect on an output characteristic of the electric motor 20, and means statuses such as a temperature and a voltage of the electric motor 20, and a number of the electric motor in operation or which actuation motor 20 is in operation, and so forth.
  • a temperature of the electric motor 20 is detected by the temperature detection means 52.
  • Information about a number of the electric motor 20 in operation and which electric motor 20 is in operation is detected by the operating number detection means 53. Those detection signals are sent to the electric motor status detection means 41, and thereby a status of the electric motor 20 is detected.
  • step S14 an ability in the case that the electric motor 20 makes a rudder turning is computed with a signal from the electric motor status detection means 41 based on those detection values. Also, in step S15, a rudder turning force characteristic is computed by the rudder turning force characteristic computation means 37 with signals from the steerage status detection means 38 and the running status detection means 39, and so forth.
  • step S16 a determination about if rudder turning control is necessary or not is made by a determination means 54. That is, in step S16, if the determination means 54 determines that a rudder turning ability of the electric motor 20 computed in step S14 satisfies a rudder turning force characteristic required for a rudder turning computed in step S15, the determination is "NO" because a control is not necessary. Now, the process goes to step S17, a rudder turning actuation is made and the process returns to step S10.
  • step S16 if a determination is conversely made that a rudder turning ability of the electric motor 20 computed in step S14 does not satisfy a rudder turning force characteristic required for a rudder turning computed in step S15, the determination is "YES" because a control is necessary.
  • the process goes to step S18, and a motor actuation setting of the reaction motor 29, the electric motor 20, the engine and the like is made.
  • step S19 the reaction motor 29 is actuated and a reaction force control is made.
  • step S20 an actuation length of the electric motor 20 is controlled and a rudder turning angle is controlled.
  • step S21 a propulsive force of the engine of the outboard motor 12 is controlled.
  • step S22 a control for selecting the electric motor 20 to operate is made. Then, the process goes to step S17, a rudder turning actuation is made, and the process returns to step S10.
  • a reaction force control, a rudder turning angle control, a propulsive force control, and a selection control of the electric motor 20 are made corresponding to a running status and so forth of the watercraft as an operator operates. Therefore, an actuation of the electric motor 20 is constantly effective, and an operator can steer with an excellent operation feeling.
  • a reaction force is made larger, a limit rudder turning angle is made smaller, and a propulsive force is made smaller as a number of the electric motor that can operate among those electric motors 20 is less so that the electric motor 20 does not overshoot its ability limit.
  • the steering wheel 17 can be operated lightly because a rudder turning of the outboard motor 12 is operated with the electric motor 20 in the watercraft.
  • a rudder turning of the outboard motor 12 is operated with the electric motor 20 in the watercraft.
  • the rudder is excessively turned for example, a larger load is required in turning the rudder back than in turning the rudder to a certain side. Therefore, an output from the electric motor 20 becomes less responsive, and an operation feeling of a rudder turning action may be deteriorated.
  • a reaction force is made large, a limit rudder turning angle is made small, and a propulsive force is made small corresponding to a motor characteristic of the electric motor 20, and thereby a limit of the motor characteristic is not exceeded in turning the rudder back.
  • the relationship between rudder turning angle and rudder turning force changes from a characteristic shown by the solid line in the figure to a characteristic shown by the broken line in the figure as variables such as a watercraft speed, a trim angle, a weight, an acceleration, a deceleration and so forth in a running status, an electric motor status and so forth increase.
  • a certain rudder turning angle corresponding to position a1 on a characteristic line represented by the solid line corresponds to position a2 on a characteristic line represented by the broken line, and a rudder turning force becomes larger to correspond to position a2.
  • a certain rudder turning force corresponding to position a1 on the characteristic line represented by the solid line corresponds to position a3 of the characteristic represented by the broken line, and a rudder turning angle becomes smaller to correspond to position a3.
  • a rudder turning force and so forth become larger in such a case and a limit rudder turning angle is large, a value may fall outside of the area of ability characteristic line C of the electric motor 20 as shown by position b1 on characteristic line B1 in FIG. 10(a) that shows the relationship between rudder turning force and rudder turning speed.
  • a limit rudder turning angle is controlled by a small amount in the present invention, and thereby a motor characteristic is changed as characteristic line B2.
  • a rudder turning force becomes smaller at a rudder turning speed corresponding to position b1, and falls inside the area of ability characteristic line C. Therefore, the outboard motor 12 can be steered in the output area of the electric motor 20, and thereby a response delay to a rudder turning action does not occur.
  • a computation is made corresponding to a status of each electric motor 20, and, at the same time, a computation is made to obtain a rudder turning force characteristic in the case that a plurality of the electric motors 20 are selected from the electric motors 20 that can operate among the electric motors 20.
  • the electric motor 20 and its operating number such that a rudder turning ability exceeds a required rudder turning force characteristic are selected. For example, in the case that a rudder turning force of an electric motor A, a rudder turning force of electric motors A + B, and a rudder turning force of electric motors A + B + C are computed as shown by characteristic line a in FIG.
  • the outboard motor 12 is used as the "watercraft propulsion unit," the present teaching is not limited to this, but it may include an inboard/outboard motor.
  • the foregoing embodiment includes the steerage 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 watercraft steering device having a watercraft propulsion unit disposed at a stern of a watercraft, a steering device actuated by an electric actuator for changing a direction in which the watercraft travels, a steering wheel operable by an operator and electrically connected to the electric actuator to provided an actuation signal corresponding to an operation amount to the electric actuator, and further including at least one of steerage status detection means for detecting a steerage status following an operation of the steering wheel, 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 an installation number thereof, and electric actuator status detection means for detecting a status of the electric actuator; and further including rudder turning force characteristic computation means for computing a rudder turning force characteristic based on a detection value from at least one of the means; and control means for controlling at least one of a reaction force to the
  • control means includes reaction actuator control means for controlling a reaction force to the steering wheel, rudder turning angle control means for controlling a limit rudder turning force and propulsive force control means for controlling a propulsive force.
  • control means controls a reaction force to the steering wheel, a limit rudder turning angle, and a propulsive force based on a steerage status detected by the steerage status detection means, a running status detected by the running status detection means, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition means, and motor characteristic status detected by the motor detection means.
  • the steerage status detection means includes at least one of rudder turning force detection means for detecting a rudder turning force required for a rudder turning following the operation of the steering wheel, load detection means for detecting a load acting on the rudder, steerage detection means for detecting a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a rudder turning angle, a rudder turning speed, and a direction in which the rudder is turned, corresponding to an operation of the steering wheel, and deviation detection means for detecting a deviation between a target rudder turning angle position corresponding to an operation of the steering wheel and an actual rudder turning angle.
  • the running status detection means includes at least one of weight detection means for detecting at least one of a draft position 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, a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • the watercraft propulsion unit status recognition means includes steerage storage means for storing therein any one of information among an 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 provided in the watercraft propulsion unit, a propeller shape, a trim tab angle, and a trim tab shape.
  • the electric actuator status detection means includes at least one of temperature detection means for detecting a temperature of the electric actuator, and operating number detection means for detecting a number of the electric actuator in operation among a plurality of the electric actuator.
  • a watercraft in which the watercraft steering device described in any one of first to seventh embodiments is provided.
  • the watercraft steering device includes the control means, which has at least one of the steerage status detection means for detecting a steerage status following an operation of the steering wheel, the running status detection means for detecting a running status of the watercraft, the watercraft propulsion unit status recognition means for recognizing a status of the watercraft propulsion unit such as an installation number thereof, and the electric actuator status detection means for detecting a status of the electric actuator.
  • the control means has also the rudder turning force computation means for computing a rudder turning force characteristic based on a detection value from at least one of the means, controls at least one of a reaction force to the steering wheel, a limit rudder turning angle, and a propulsive force based on a computed rudder turning force characteristic, and/or selects the electric actuator in operation. Therefore, the above aspects of the present teaching can provide a watercraft steering device and a watercraft that enables rudder turning with constant effectiveness and excellent operation feeling corresponding to a running status of the watercraft.
  • a watercraft steering device having a watercraft propulsion unit disposed at a stern of a watercraft, a steering device actuated by an electric actuator for changing a direction in which the watercraft travels, and a steering wheel operable by an operator and electrically connected to the electric actuator to provided an actuation signal corresponding to an operation amount of the electric actuator, and further comprising: at least one of steerage status detection means for detecting a steerage status following an operation of the steering wheel, 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 an installation number thereof, and electric actuator status detection means for detecting a status of the electric actuator; and further comprising: rudder turning force characteristic computation means for computing a rudder turning force characteristic based on a detection value from at least one of the means; and control means for controlling at least one of a reaction force to the steering wheel, a limit rudder
  • control means includes reaction actuator control means for controlling a reaction force to the steering wheel, rudder turning angle control means for controlling a limit rudder turning force, and propulsive force control means for controlling a propulsive force.
  • control means controls a reaction force to the steering wheel, a limit rudder turning angle, and a propulsive force based on a steerage status detected by the steerage status detection means, a running status detected by the running status detection means, a watercraft propulsion unit status recognized by the watercraft propulsion unit status recognition means, and a motor characteristic status detected by the motor detection means.
  • the steerage status detection means includes at least one of rudder turning force detection means for detecting a rudder turning force required for a rudder turning following the operation of the steering wheel, load detection means for detecting a load acting on the rudder, steerage detection means for detecting a steering wheel steerage angle, a steering wheel steerage speed, a direction in which the steering wheel is operated, a rudder turning angle, a rudder turning speed, and a direction in which the rudder is turned, corresponding to an operation of the steering wheel, and deviation detection means for detecting a deviation between a target rudder turning angle position corresponding to an operation of the steering wheel and an actual rudder turning angle.
  • the running status detection means includes at least one of weight detection means for detecting at least one of a draft position 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, a propulsive force of the watercraft, and an output of the watercraft propulsion unit.
  • the watercraft propulsion unit status recognition means includes steerage storage means for storing therein any one of information among an 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 provided in the watercraft propulsion unit, a propeller shape, a trim tab angle, and a trim tab shape.
  • the electric actuator status detection means includes at least one of temperature detection means for detecting a temperature of the electric actuator, and operating number detection means for detecting a number of the electric actuator in operation among a plurality of the electric actuator.
  • a watercraft wherein the watercraft steering device according to any one of the first to seventh aspects is provided.
  • a watercraft steering device including at least one of steerage status detection means for detecting a steerage status following an operation of the steering wheel, running status detecting means for detecting a running status of the watercraft, watercraft propulsion unit status recognition means for recognizing a status of an outboard motor 12 such as an installation number thereof, and electric motor status detection means for detecting a status of an electric motor, and further including rudder turning force characteristic computation means for computing a rudder turning force characteristic based on a detection value from at least one of the means, and an ECU 33 for controlling at least one of a reaction force to the steering wheel, a limit rudder turning angle, and a propulsive force based on a computed rudder turning force characteristic and/or selecting the electric actuator to operate.

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)

Claims (11)

  1. Lenksystem für ein Wasserfahrzeug, aufweisend:
    eine Wasserfahrzeugantriebseinheit (12),
    eine Lenkvorrichtung (16), betätigt durch einen Betätiger (20) zum Verändern einer Richtung, in der das Wasserfahrzeug fährt, und
    eine Lenkgrößen- Eingabeeinrichtung (17), betätigbar durch eine Bedienperson, und elektrisch mit dem Betätiger (20) verbunden, um ein Betätigungssignal zu schaffen, das einer Betätigungsgröße des Betätigers (20) entspricht,
    zumindest eine von einer Lenkstatus- Erfassungseinrichtung (38) zum Erfassen eines Lenkstatus im Anschluss an eine Betätigung der Lenkgrößen- Eingabeeinrichtung (17), einer Fahrzustand- Erfassungseinrichtung (39) zum Erfassen eines Fahrstatus des Wasserfahrzeuges, eine Wasserfahrzeugantriebseinheit- Status-Erkennungseinrichtung (40) zum Erkennen eines Status der Wasserfahrzeugantriebseinheit (12), wie z. B. eine Einbauanzahl derselben, und eine Betätigerstatus- Erfassungseinrichtung zum Erfassen eines Status des Betätigers (20); und
    aufweisend eine Ruderdrehkraftcharakteristik- Berechnungseinrichtung (37) aufweist zum Berechnen einer Ruderdrehkraftcharakteristik auf der Grundlage eines Erfassungswertes von zumindest einer der Erfassungs- oder Erkennungs- Einrichtungen; gekennzeichnet durch
    eine Feststellungseinrichtung (54) zum Feststellen, dass eine Ruderdrehfähigkeit des Betätigers der Ruderdrehkraftcharakteristik genügt,
    eine Steuereinrichtung (33) zum Betätigen der Ruderdrehung auf der Grundlage der Ruderdrehkraftcharakteristik, wenn die Ruderdrehfähigkeit des Betätigers der Ruderdrehkraftcharakteristik genügt, und
    eine Steuereinrichtung (33) zum Steuern von zumindest einer von einer Reaktionskraft zu der Lenkgrößen- Eingabeeinrichtung (17), einem Grenz- Ruderdrehwinkel, einer Antriebskraft und Auswählen des Betätigers (20), um auf der Grundlage einer berechneten Ruderdrehkraftcharakteristik zu arbeiten, wenn die Ruderdrehfähigkeit des Betätigers der Ruderdrehkraftcharakteristik nicht genügt.
  2. Lenksystem nach Anspruch 1, wobei die Wasserfahrzeugantriebseinheit (12), insbesondere angeordnet in einem Stern des Wasserfahrzeuges, als das Ruder verwendet wird.
  3. Lenksystem nach Anspruch 1 oder 2, wobei der Betätiger (20), konfiguriert eine Richtung, in der das Wasserfahrzeug fährt, zu verändern, ein elektrischer Betätiger ist.
  4. Lenksystem nach einem der Ansprüche 1 bis 3, wobei die Steuereinrichtung (33) eine Reaktionsbetätiger- Steuereinrichtung (42) zum Steuern einer Reaktionskraft auf die Lenkgrößen- Eingabeeinrichtung (17), eine Ruderdrehwinkel- Steuereinrichtung (43) zum Steuern einer Grenz- Ruderdrehkraft und eine Antriebskraft- Steuereinrichtung (44) zum Steuern einer Antriebskraft enthält.
  5. Lenksystem nach einem der Ansprüche 1 bis 4, wobei die Steuereinrichtung (33) steuert eine Reaktionskraft auf die Lenkgrößen- Eingabeeinrichtung (17), einen Grenz- Ruderdrehwinkel und eine Antriebskraft auf der Grundlage eines Lenkstatus, erfasst durch die Lenkstatus- Erfassungseinrichtung (38), einem Fahrzustand, erfasst durch die Fahrzustand- Erfassungseinrichtung (39), einen Wasserfahrzeugantriebseinheit- Status, erkannt durch die Wasserfahrzeugantriebseinheit- Status- Erkennungseinrichtung (40), und einen Motorcharakteristik- Status, erfasst durch die Motorerfassungseinrichtung.
  6. Lenksystem nach einem der Ansprüche 1 bis 5, wobei die Lenkstatus- Erfassungseinrichtung (38) zumindest eine enthält von einer Ruderdrehkraft- Erfassungseinrichtung (46) zum Erfassen einer Ruderdrehkraft, erforderlich für ein Ruderdrehen im Anschluss an die Betätigung der Lenkgrößen- Eingabeeinrichtung (17), eine Lasterfassungseinrichtung (55) zum Erfassen einer Last, die auf das Ruder wirkt, eine Lenkerfassungseinrichtung (47) zum Erfassen eines Lenkgrößen- Eingabeeinrichtung- Lenkwinkel, eine Lenkgrößen- Eingabeeinrichtung-Lenkgeschwindigkeit, eine Richtung, in der die Lenkgrößen- Eingabeeinrichtung (17) betätigt wird, einen Ruderdrehwinkel, eine Ruderdrehgeschwindigkeit oder eine Richtung, in der das Ruder entsprechend einer Betätigung der Lenkgrößen-Eingabeeinrichtung (17) gedreht wird, und eine Abweichungs- Erfassungseinrichtung zum Erfassen einer Abweichung zwischen einer Ziel- Ruderdrehwinkelposition, die einer Betätigung der Lenkgrößen- Eingabeeinrichtung (17) entspricht, und einem tatsächlichen Ruderdrehwinkel.
  7. Lenksystem nach einem der Ansprüche 1 bis 6, wobei die Fahrzustand- Erfassungseinrichtung (39) zumindest eine enthält von Gewichtserfassungseinrichtung (48) zum Erfassen von zumindest einer von einer Fahrposition oder eines Gewichts des Wasserfahrzeuges, eine Trimmwinkel- Erfassungseinrichtung (49) zum Erfassen eines Trimmwinkels des Wasserfahrzeuges und eine Geschwindigkeits- Erfassungseinrichtung (50) zum Erfassen von zumindest eines von einer Geschwindigkeit, einer Beschleunigung, einer Antriebskraft des Wasserfahrzeuges oder eines Ausgangssignales der Wasserfahrzeugantriebseinheit (12).
  8. Lenksystem nach einem der Ansprüche 1 bis 7, wobei die Wasserfahrzeugantriebseinheit- Status- Erkennungseinrichtung (40) enthält eine Lenk- Speichereinrichtung (51) zum Speichern darin irgendeiner der Informationen unter der Einrichtungsanzahl der Wasserfahrzeugantriebseinheit (12), einer Einrichtungsposition der Wasserfahrzeugantriebseinheit (12) in Bezug auf das Wasserfahrzeug, eine Drehrichtung einer Schraube, vorgesehen in der Wasserfahrzeugantriebsein-. heit (12), einer Propellerform, einem Trimmelementwinkel und einer Trimmelementenform.
  9. Lenksystem nach einem der Ansprüche 3 bis 8, wobei die Betätigerstatus- Erfassungseinrichtung eine elektrische Betätigerstatus- Erfassungseinrichtung ist, die zumindest eine von Temperaturerfassungseinrichtung (52) zum Erfassen einer Temperatur des elektrischen Betätigers (20), und eine Betätigungsanzahl- Erfassungseinrichtung (53) zum Erfassen einer Anzahl des elektrischen Betätigers (20) im Betrieb unter einer Mehrzahl von elektrischen Betätigern (20) enthält.
  10. Lenksystem nach einem der Ansprüche 1 bis 8, wobei die Lenkgrößen- Eingabeeinrichtung (17) ein Lenkrad oder ein Steuerhebel, betätigbar durch eine Bedienperson, ist, elektrisch verbunden mit dem elektrischen Betätiger (20) einer Lenkbetätigungseingabe zu dem elektrischen Betätiger (20).
  11. Wasserfahrzeug, das eine Wasserfahrzeug- Lenkvorrichtung nach einem der Ansprüche 1 bis 10 hat.
EP20070022320 2006-11-17 2007-11-16 Lenksystem für ein Wasserfahrzeug Active EP1923307B1 (de)

Applications Claiming Priority (4)

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

Publications (3)

Publication Number Publication Date
EP1923307A2 EP1923307A2 (de) 2008-05-21
EP1923307A3 EP1923307A3 (de) 2011-05-25
EP1923307B1 true EP1923307B1 (de) 2013-02-20

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

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DE102009051410A1 (de) * 2009-10-30 2011-05-05 Hoerbiger Automatisierungstechnik Holding Gmbh Wasserfahrzeug
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
WO2016004532A1 (en) 2014-07-08 2016-01-14 Marine Canada Acquisition Inc. Electric actuator for a marine steering system
EP3006327B1 (de) 2014-10-06 2018-05-16 ABB Schweiz AG Steuersystem für ein Schiff
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
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
US11372411B1 (en) 2019-08-08 2022-06-28 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
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EP1923306A2 (de) 2008-05-21
EP1923306A3 (de) 2011-05-18
EP1923309A3 (de) 2011-05-25
EP1923309A2 (de) 2008-05-21
EP1923308A2 (de) 2008-05-21
EP1923307A2 (de) 2008-05-21
EP1923309B1 (de) 2013-05-01
EP1923308B1 (de) 2013-06-19
EP1923308A3 (de) 2011-05-25
EP1923307A3 (de) 2011-05-25

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