JP2008254641A - Control device for vessel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for a vessel which can perform control for converging a pitch angle of a hull to a target value without mounting an inclination angle detection means in the hull. <P>SOLUTION: A control device for a vessel controls a trim angle of an outboard motor for a vessel equipped with a hull 2 and an outboard motor 3 mounted in a stern of the hull containing a power trim device 303 therein, and detects a trim angle θt of the outboard motor and a tilt angle θo with respect to the perpendicular direction of the outboard motor to operate a pitch angle θb of the hull from a mounting angle θI with respect to the hull of the outboard motor and of the detected trim angle θt and tilt angle θo. The power trim device 303 is controlled in response to a deviation between the operated pitch angle θb and a target value thereof so that the trim angle is controlled so as to converge the pitch angle θb to a target value. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a marine vessel control apparatus that controls a trim angle of an outboard motor in a marine vessel having an outboard motor.

  In a ship equipped with an outboard motor such as a motor boat, in order to obtain thrust efficiently, an inclination angle detecting means for detecting the inclination of the outboard motor with respect to the vertical direction is provided, and the inclination angle of the outboard motor with respect to the vertical direction is provided. By controlling the inclination angle (trim angle) of the outboard motor with respect to the hull so as to be close to zero, the outboard motor thrust is maintained in a substantially horizontal state. At this time, the ship navigates with its hull kept slightly upward. Such a navigation state is called a planing (sliding) state. However, if only the control to control the trim angle of the outboard motor is performed so that the direction in which the thrust obtained from the outboard motor works is always in the horizontal direction, the hull will rise excessively when navigating at high speed. The thrust may not be obtained efficiently.

  For example, as shown in FIG. 8A, when the ship 1 is throttled and stopped or navigating at an extremely low speed, the hull 2 is in a horizontal direction. When acceleration is performed by increasing the output of the outboard motor 3 attached to the stern 2a in this state, as shown in FIG. 8 (B), the water pressure (dynamic lift) acting on the hull due to water hitting the ship bottom. The hull 2 is in a state of rising forward. In such a state, the central axis of the outboard motor propeller 3a is inclined downward, so that the thrust is directed obliquely upward, and the thrust for advancing the hull can be obtained efficiently. I can't do that. Therefore, the control device performs trim-up control to increase the trim angle of the outboard motor (inclination angle with respect to the hull of the outboard motor) in order to return the central axis of the propeller to the horizontal direction. 1 goes further forward, making it difficult to shift to the planing state. In FIG. 8, H indicates a horizontal plane.

Therefore, in the conventional control device, for example, as disclosed in Patent Document 1, in addition to the tilt angle sensor that detects the tilt angle of the outboard motor with respect to the vertical direction, the tilt angle (pitch angle) of the hull with respect to the horizontal direction. An outboard motor is installed based on the detection result of the outboard motor's tilt angle when the hull pitch angle is less than the set value and when the hull acceleration is less than the set value. The trim angle is controlled so that the thrust is directed horizontally, and when the pitch angle of the hull exceeds the set value or the acceleration of the hull exceeds the set value, the trim angle is adjusted so that the thrust is directed horizontally. Prior to the control to be controlled, trim down control for reducing the trim angle of the outboard motor is performed.
JP-A-2-237893

  In the conventional control device disclosed in Patent Document 1, an inclination angle sensor for detecting the pitch angle of the hull is attached to the front portion of the hull, and this inclination angle sensor is mounted on the outboard motor through a long wire harness. Had to be connected to. Therefore, when the conventional control device is used, there is a problem that the installation of the tilt angle sensor to the hull and the wiring harness take a lot of time and the cost required for the outfitting of the ship becomes high. It was.

  Further, in the case of the conventional control, when the ship is accelerating and the hull acceleration is equal to or higher than the set value, only trim down control (control in a direction to decrease the trim angle) is performed. In some cases, the control in the direction of decreasing the trim angle is excessively performed, and as shown in FIG. 9, the force Fd for pressing the bow is excessively acted to suppress acceleration.

  In FIG. 9, L is a plane that includes the central axis of the propeller 3 a of the outboard motor 3, and is a plane that is in a state along the vertical direction when the hull 2 is resting on the still water surface. When it is a plane, it is a straight line extending along a direction along the draft line of the hull 2 on the reference plane. In this specification, the direction along the straight line L is referred to as the longitudinal direction of the hull.

  Further, in a ship having an outboard motor attached to a light and short hull, a hull jump phenomenon called porpoising may occur during high-speed navigation. If a jumping phenomenon occurs during navigation, not only the ride comfort is bad, but also the thrust is wasted, which is not preferable because the fuel consumption deteriorates. In the case of the conventional control, after the ship is in the planing state, only the control of directing the thrust of the outboard motor to the horizontal direction is performed. There was something that could not be done.

  10A to 10C show how the hull jump phenomenon occurs. (A) shows the state where the hull is navigating in a substantially horizontal direction. In the figure, Fu indicates dynamic lift (water pressure acting on the hull when water hits the bottom), and C is It shows the center where dynamic lift works. Fw represents the gravity acting on the center of gravity G of the hull. When the speed of the ship rises from this state, the dynamic lift Fu increases, so the bow rises, and the center C at which the dynamic lift Fu acts moves closer to the center of gravity G. As the boat speed increases, as shown in FIG. 10 (B), after the center C on which the dynamic lifting force Fu acts coincides with the center of gravity G, as shown in FIG. The center C at which the target lift Fu acts is moved to the stern side from the center of gravity G. In such a state, since the force in the direction of lowering the bow is applied, the bow is struck against the water surface and the state returns to the state of FIG. In the state of FIG. 10 (A), the dynamic lift Fu acts in the direction of lifting the bow, so the bow rises again and the process of FIGS. 10 (A) to 10 (C) is repeated, and the hull jumps and sails. The state to continue.

  In order to suppress the jumping phenomenon, it is necessary to perform the trim down control before the state shown in FIG. 10 (B) and lower the bow, but in the case of the control shown in Patent Document 1, Since the control of directing the thrust of the outboard motor in the horizontal direction is performed until the acceleration of the ship exceeds the set value, the bow control cannot be performed before the state shown in FIG. . That is, when the bow is raised as shown in FIG. 10 (B), the thrust is directed obliquely upward, so the control device controls the outboard motor to increase the trim angle in order to return the thrust to the horizontal direction. And raise the bow further. Further, when the bow is struck against the water surface through the state of FIG. 10 (C), the thrust is directed obliquely downward, so the control device reduces the trim angle of the outboard motor to return the thrust to the horizontal direction. As a result, the control works in a direction that promotes the jumping phenomenon of the hull.

  The above phenomenon is likely to occur when the hull is short and light, and is difficult to occur when the hull is long. If the hull to be combined with the outboard motor is known in advance, it is possible to prepare a control mode to suppress the jumping phenomenon, but the outboard motor is combined with the hulls of various shapes in advance. In addition, since it is difficult to predict whether or not the above phenomenon occurs, the conventional marine control device does not have a control mode for suppressing the jumping phenomenon.

  The object of the present invention is to obtain trim pitch information for hull pitch angle without using a tilt angle sensor for detecting hull pitch angle on the hull side, and to control trim angle to converge the hull pitch angle to a target value. An object of the present invention is to provide a marine vessel control apparatus that can be used.

  Another object of the present invention is to control the trim angle to obtain information on the pitch angle of the hull without attaching a sensor for detecting the tilt angle of the hull on the hull side, and to converge the pitch angle of the hull to the target value. An object of the present invention is to provide a marine vessel control apparatus that is capable of preventing the occurrence of a state in which acceleration is suppressed due to excessive trim down control during acceleration.

  Still another object of the present invention is to provide a marine vessel control apparatus capable of appropriately controlling the trim angle of an outboard motor even in a situation where a hull jump phenomenon occurs to prevent the jump phenomenon from continuing. It is to provide.

  The present invention is directed to a marine vessel controller that controls a trim angle of an outboard motor of a marine vessel that includes a hull and an outboard motor that includes a power trim device and is attached to the stern of the hull.

  A marine vessel control apparatus according to the present invention includes a trim angle sensor that detects a trim angle θt of an outboard motor, an inclination angle detection unit that detects an inclination angle θo with respect to the vertical direction of the outboard motor, and a hull of the outboard motor. Pitch angle calculating means for calculating the pitch angle θb of the hull from the mounting angle θI, the trim angle θt of the outboard motor detected by the trim angle sensor, and the inclination angle θo detected by the inclination angle detecting means; The trim angle is controlled so that the pitch angle converges to the target value by controlling the power trim device in accordance with the deviation between the pitch angle θb calculated by the pitch angle calculating means and the target value of the pitch angle during navigation. And a target pitch angle tracking control means.

  As described above, if the pitch angle calculation means for calculating the pitch angle of the hull is provided from the mounting angle, trim angle, and tilt angle of the outboard motor, the tilt angle sensor that detects the tilt angle is attached to the hull side. It is possible to accurately control the trim angle for obtaining the pitch angle information of the hull and converging the pitch angle of the hull to the target value without drawing a long wire harness.

  The target pitch angle tracking control means is preferably configured to perform control to converge the pitch angle to the target value even when the ship is accelerating.

  In conventional control devices, once trim-down control is performed during acceleration, control in the trim-up direction is not performed until the acceleration decreases. However, as described above, if the trim angle is controlled so that the pitch angle of the hull converges to an appropriate target value even during acceleration, trim down control will be excessive during acceleration. It is possible to prevent the acceleration of the ship from being suppressed.

  In a preferred embodiment of the present invention, among the planes including the central axis of the outboard motor propeller, one plane that is in a state along the vertical direction when the hull is floating on the still water surface and is stationary is defined as a reference plane. The direction along the waterline of the hull on the reference plane is the longitudinal direction of the hull. Also, when the outboard motor is at the set minimum trim position, a straight line along the outboard motor with a mounting angle θI with respect to the longitudinal direction of the hull on the reference plane is taken as the reference axis of the outboard motor, and the reference The angle formed by the reference axis of the outboard motor with respect to the vertical direction on the plane is defined as the inclination angle θo of the outboard motor. Further, the angle obtained by subtracting the mounting angle θI from the angle formed by the reference axis of the outboard motor on the reference plane with respect to the longitudinal direction of the hull is the trim angle θt, and the reference axis of the outboard motor is on the hull side with respect to the vertical direction. The pitch angle calculating means is configured to calculate the pitch angle θb by an arithmetic expression expressed as θb = θt + θI−θo−90 ° when the sign of the inclination angle θo when the angle is inclined is negative. .

  It should be noted that “when the sign of the inclination angle θo when the reference axis of the outboard motor is inclined toward the hull side with respect to the vertical direction is negative, an arithmetic expression represented by θb = θt + θI−θo−90 ° “Calculating the pitch angle θb” means that the sign of the inclination angle θo when the reference axis of the outboard motor is inclined to the hull side with respect to the vertical direction is positive, and the calculation formula θb = θt + θI + θo−90 ° This is equivalent to “calculating the pitch angle θb”. Therefore, “the pitch angle θb is calculated by the equation θb = θt + θI + θo−90 ° with the sign of the inclination angle θo being positive when the reference axis of the outboard motor is inclined toward the hull side with respect to the vertical direction” Is an arithmetic expression expressed as θb = θt + θI−θo−90 ° when the sign of the inclination angle θo when the reference axis of the outboard motor is inclined toward the hull side with respect to the vertical direction is negative. Is included in the technical scope of the invention that requires that the pitch angle θb is calculated by the above.

  In a preferred aspect of the present invention, the inclination angle detecting means has a function of detecting an acceleration Gy acting in a reference axis direction of the outboard motor and an acceleration Gx acting in a direction perpendicular to the reference axis on the reference plane. The inclination angle of the outboard motor is obtained by calculation from the accelerations Gy and Gx detected by the acceleration sensor. A biaxial acceleration sensor may be used as the acceleration sensor, but a triaxial acceleration sensor may be used.

In this case, the inclination angle θo of the outboard motor can be calculated by the calculation formula θo = tan ⁻¹ (Gx / Gy).

  In another preferred aspect of the present invention, the inclination angle detecting means includes an acceleration sensor having a function of detecting an acceleration Gx acting in a direction orthogonal to the reference axis on the reference plane, and the acceleration detected by the acceleration sensor. The inclination angle of the outboard motor is obtained by calculation from Gx.

In this case, the inclination angle θo of the outboard motor can be calculated by an arithmetic expression of θo = sin ⁻¹ Gx, where the acceleration of gravity is 1.

  When configured as described above, it is only necessary to use a uniaxial acceleration sensor as the acceleration sensor, so that the cost can be reduced.

  In a preferred aspect of the present invention, the inclination angle detecting means detects an instantaneous value of the inclination angle and performs an operation for obtaining an average value of the instantaneous value of the inclination angle repeatedly detected within the set averaging process period. The average value of the inclination angles within the averaging process period is also detected. In this case, the pitch angle calculation means calculates the instantaneous value of the pitch angle of the hull using the instantaneous value of the tilt angle, and also calculates the average value of the pitch angle of the hull using the average value of the tilt angle. The target pitch follow-up control means is configured to control the trim angle so that the average value of the pitch angles calculated by the pitch angle calculation means converges to the target value.

  As described above, if the target pitch follow-up control means is configured so that the average value of the pitch angle converges to the target value, the influence of vibrations and fluctuations generated during navigation of the ship on the calculated value of the pitch angle is reduced. Accurate control can be performed.

  In a preferred aspect of the present invention, θI = 90 ° + θo−θt when the sign of the inclination angle θo when the reference axis of the outboard motor is inclined toward the hull with respect to the vertical direction is negative. An outboard motor mounting angle calculating means for calculating the mounting angle θI of the outboard motor when the ship is stopped is provided using an arithmetic expression.

  As described above, if the mounting angle of the outboard motor is obtained by calculation, it is convenient because it is possible to save the trouble of inputting the mounting angle to the controller when mounting the outboard motor to the hull.

  In another preferred aspect of the present invention, when the difference between the maximum value and the minimum value of the instantaneous value of the pitch angle calculated within a set fixed period exceeds the set value, the hull jumping motion occurs. A jumping motion detection means for detecting the presence of a jumping motion, and a trimdown control for performing trimdown control for reducing the trim angle until the jumping motion is not detected when the jumping motion detection of the hull is detected by the jumping motion detection means. Means are further provided. In this case, the target pitch angle follow-up control means decreases the pitch angle target value when the jumping motion detection means detects the jumping motion of the hull and performs trim down control, and the pitch angle is set to the target value. The trim angle is controlled so as to be converged to.

  As described above, the jumping motion detection means is provided, and when the jumping motion detection means detects the jumping motion of the hull, the trim down control is performed to reduce the trim angle until the jumping motion is not detected. In this case, since the jumping motion can be prevented from continuing, it is possible to improve the riding comfort of the ship, and it is possible to prevent the thrust from being wasted and fuel consumption from being deteriorated.

  In another preferred aspect of the present invention, the pitch angle determination means for determining whether or not the instantaneous value of the pitch angle exceeds a set limit value, and the instantaneous value of the pitch angle exceeds the limit value by the pitch angle determination means. Trim down control means for performing trim down control for reducing the trim angle until the instantaneous value of the pitch angle becomes equal to or smaller than the limit value when it is determined that the trim angle is determined. In this case, the target pitch angle tracking control means decreases the pitch angle target value when the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value and the trim down control is performed. Thus, the trim angle is controlled to converge the average value of the pitch angles to the target value.

  As described above, after performing trim down control to reduce the trim angle until the pitch angle becomes less than or equal to the limit value when the pitch angle exceeds the limit value, the target value of the pitch angle is decreased by decreasing the target value of the pitch angle. When the follow-up control is performed, the trim angle can be controlled to an appropriate value while keeping the pitch angle in a range where the hull is stable.

  In another preferable aspect of the present invention, the jumping motion for detecting whether or not the jumping motion of the hull is generated from the difference between the maximum value and the minimum value of the instantaneous value of the pitch angle calculated within a set fixed period. The detecting means, the pitch angle determining means for determining whether or not the instantaneous value of the pitch angle exceeds the set limit value, and the jumping motion when the jumping motion of the hull is detected by the jumping motion detecting means Trim down control is performed to decrease the trim angle until no more is detected. When the pitch angle determining means determines that the instantaneous value of the pitch angle exceeds the limit value, the instantaneous value of the pitch angle becomes less than the limit value. Trim-down control means for performing trim-down control for reducing the trim angle is further provided. In this case, the target pitch angle tracking control means detects the jumping motion of the hull by the jumping motion detection means and the trim down control is performed, and the instantaneous value of the pitch angle exceeds the limit value by the pitch angle determination means. When the trim down control is performed and the trim angle control is performed, the target value of the pitch angle is decreased, and the trim angle is controlled to converge the pitch angle to the target value.

  In still another preferred aspect of the present invention, the thrust horizontal control means for controlling the trim angle so as to keep the direction in which the thrust of the outboard motor works in the horizontal direction, and the target pitch angle tracking control means sets the average value of the pitch angle as the target An inclination angle determination means for determining whether at least one of an instantaneous value and an average value of the inclination angle of the outboard motor exceeds a set limit value when the trim angle is controlled to converge to a value When the inclination angle determination means determines that at least one of the instantaneous value and the average value of the inclination angle of the outboard motor is equal to or less than the set limit value, control by the target pitch angle tracking control means is performed. Control is performed so that control by the thrust level control means is performed when it is determined by the inclination angle determination means that at least one of the instantaneous value and the average value of the outboard motor inclination angle exceeds the set limit value. Switching And that the control switching means is further provided.

  When configured as described above, when the hull is long and the pitch angle does not change even if the trim angle is changed, when the inclination angle of the outboard motor reaches the limit value, the control by the target pitch angle tracking control means Since the control can be switched to the control by the thrust level control means, it is possible to prevent the trim angle from becoming excessively large and the fuel consumption from being deteriorated when the outboard motor is attached to a long hull.

  As described above, according to the present invention, the pitch angle calculating means for calculating the pitch angle of the hull from the mounting angle of the outboard motor, the trim angle, and the inclination angle is provided, and the pitch angle obtained by the calculation is set as the target. Because it is controlled to converge to the value, it is possible to obtain information on the pitch angle of the hull without installing a tilt angle sensor that detects the pitch angle on the hull side or drawing a long wire harness. It is possible to accurately control the trim angle for converging to the target value.

  According to the present invention, the trim angle is controlled so that the pitch angle of the hull converges to the target value regardless of whether or not the ship is accelerating. Therefore, it is possible to prevent the marine vessel from being accelerated due to excessive trim down control.

  In the present invention, a jumping motion detection means is provided, and when the jumping motion detection means detects the jumping motion of the hull, trim down control is performed to reduce the trim angle until no jumping motion is detected. In this case, it is possible to prevent the jumping motion from continuing, so that the ride comfort of the ship can be improved, and it is possible to prevent the thrust from being wasted and fuel consumption from being deteriorated.

  In the present invention, when the instantaneous value of the pitch angle exceeds the limit value, the trim down control is performed to decrease the trim angle until the instantaneous value of the pitch angle becomes equal to or less than the limit value, and the target value of the pitch angle is decreased. In this case, the trim angle can be controlled to an appropriate value while maintaining the attitude of the hull within a range where the hull is stable without increasing the pitch angle.

  In the present invention, at least one of the instantaneous value and the average value of the outboard motor inclination angle is set in the process in which the target pitch angle tracking control means controls the trim angle so that the average value of the pitch angle converges to the target value. A limit value in which at least one of an instantaneous value and an average value of the outboard motor tilt angle is set by the outboard motor tilt angle determining unit. If the control is switched from the control by the target pitch angle follow-up control means to the control by the thrust level control means when it is determined that the angle exceeds the pitch angle, the pitch angle does not change even if the trim angle is changed. Sometimes, when the instantaneous value of the inclination angle of the outboard motor reaches the limit value, it is possible to switch from the control by the target pitch angle tracking control means to the control by the thrust level control means. Fuel consumption becomes excessively large trim angle when mounted it can be prevented from deteriorating.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 shows a configuration example of a control apparatus according to the present invention. In the figure, 3 indicates an outboard motor, and 4 indicates a remote control unit (remote control unit) attached to a location (near the driver's seat) of the hull away from the outboard motor.

  The outboard motor 3 adjusts the inclination angle of the outboard motor body with respect to the hull using a power trim motor (PTT motor) 301 as a power source and an outboard motor body (not shown) having an engine and a propeller driven by the engine. A power trim device (PTT unit) 303 having a trim mechanism and a trim angle sensor 302 for detecting an inclination angle of the outboard motor main body with respect to the hull, and a power trim controller (hereinafter referred to as a PTT controller) 304 for controlling the power trim device 303. I have. The power trim device (PTT unit) 303 is provided between the left and right brackets for attaching the outboard motor to the stern of the hull, and the power trim controller 304 is provided in the cover of the outboard motor.

  The PTT controller 304 includes a microprocessor having a CPU 305, an acceleration sensor 307, and a motor drive circuit 308 that supplies a drive current to the PTT motor 301.

  The remote control unit 4 also includes a mode selection switch 401 operated by the driver to select whether the operation mode is the automatic control mode or the manual mode, and the outboard when the manual mode is selected. A PTT switch 402 operated by the driver to move the machine in the trim-up direction and trim-down direction, respectively, and a display 403 for displaying the current trim angle and operation mode are provided.

  FIG. 2 is a block diagram showing a control mode of the marine vessel control apparatus of the present embodiment. In the control device of the present embodiment, the control mode is set to the engine stall mode 10 when the determination that the engine is stalled (engine stall determination) is established. In the engine stall mode, necessary measures are taken to keep the engine in a stopped state, such as stopping the ignition operation and stopping the fuel supply to the engine. In the stall mode, automatic trim control is not performed.

  The control mode is switched to the engine start mode 11 when it is detected that the engine start operation is performed in the engine stall mode. In this engine start mode, control necessary for starting the engine is performed, such as supply of a mixed gas to the cylinder where the initial ignition is performed, and execution of ignition at an ignition position suitable for the start. In the engine start mode, the drive of the PTT motor is prohibited in order to secure electric power for driving the starter motor that starts the engine. When engine start fails in engine start mode and engine stall determination is established, the control mode is returned to engine stall mode.

  When the engine is successfully started in the engine start mode, the control mode shifts to the stop / slow speed mode 12. In this mode, when the gear position of the transmission is in the neutral position and the throttle lever is in the idling position, control is performed to keep the engine speed at the idling speed, and the throttle lever is in the slow speed navigation position. When displaced, the engine is controlled to rotate the engine at a rotational speed necessary for navigating the ship at a slow speed. When the engine stall determination is established in the stop / slow speed mode 12, the engine shifts to the engine stall mode 10. In the stop / slow speed mode, the PTT motor 301 is controlled so that the trim angle is displaced to the minimum trim position (position where the trim angle is minimized) (full trim down) in preparation for the next acceleration operation.

  When it is detected that the engine speed has exceeded the set value in the engine stall mode, or when the throttle lever has been operated more than the set angle to open the throttle valve (the throttle opening is the set value) When the above is reached, the cruise mode 13 is entered. In this cruise mode, the rotational speed of the engine is controlled so as to sail at a speed corresponding to the throttle position. In the cruise mode, trim automatic control described later is performed when the automatic control mode is selected. Even when the engine stall determination is established in the cruise mode, the engine shifts to the engine stall mode.

  In the present invention, in trim automatic control, the trim angle is basically controlled so that the pitch angle of the hull 2 converges to a target value. In order to control the pitch angle of the hull 2 to converge to the target value, it is necessary to detect the pitch angle of the hull. In the present invention, an inclination angle sensor for detecting the pitch angle of the hull is attached to the hull. Instead, a pitch angle calculation means is constituted by the microprocessor, and the pitch angle of the hull is calculated by the pitch angle calculation means.

  Here, a method for calculating the pitch angle of the hull will be described with reference to FIGS. 5A to 5C, reference numeral 3 denotes an outboard motor attached to the stern 2a of the hull 2 via a bracket 305. The brackets 305 are provided on the left and right sides of the stern, and a power trim device 303 (not shown in FIG. 5) is provided between the left and right brackets 305. The power trim device uses the trim motor (PTT motor) as a drive source to rotate the outboard motor main body 300 about the rotation center shaft 306 provided on the bracket.

  FIG. 5 (A) shows that the hull 2 is stopped in a state of floating on a stationary water surface (pitch angle is 0), the outboard motor 3 is tilted by the trim angle θt with respect to the minimum trim position, and FIG. 5B shows a state where the bow of the hull 2 is raised and the hull 2 is inclined with respect to the horizontal plane H by the pitch angle θb. Show. Further, FIG. 5C shows that the hull 2 is stopped in a state where it floats on the still water surface, and the outboard motor 3 is inclined by the trim angle θt with respect to the minimum trim position, and is only the angle θo with respect to the vertical direction. The state which inclines to the hull 2 and the other side is shown.

  When calculating the pitch angle of the hull, among the planes including the central axis of the propeller 3a of the outboard motor 3, as shown in FIG. One plane that is in a state along the direction (a plane along the plane of FIG. 5) is defined as a reference plane. When the outboard motor 3 is at the set minimum trim position (when θt = 0), the longitudinal direction of the hull 2 is the direction along the straight line L extending parallel to the draft of the hull on the reference plane. Outboard on the reference plane when the reference axis Y of the outboard motor is defined as one straight line that follows the outboard motor 3 with a fixed mounting angle θI with respect to the longitudinal direction of the hull on the reference plane. An angle θo formed by the reference axis Y of the machine with respect to the vertical plane V (an angle formed with respect to the vertical direction) is defined as an inclination angle of the outboard motor. The trim angle θt is an angle obtained by subtracting the mounting angle θI from the angle formed by the reference axis Y of the outboard motor with respect to the longitudinal direction of the hull 2 on the reference plane.

  The outboard motor mounting angle θI is the inclination of the outboard motor with respect to the hull when the outboard motor is at the minimum trim position, and is constant depending on the structure of the stern (transam) when the outboard motor is mounted on the hull. The angle is determined by

Here, as shown in FIG. 5A, if the sign of the inclination angle θo when the reference axis Y of the outboard motor is inclined toward the hull side with respect to the vertical direction V is negative, the pitch angle of the hull θb is given by the following equation.
θb = θt + θI−θo−90 ° (1)
If the sign of the inclination angle θo when the reference axis Y of the outboard motor is inclined to the hull side with respect to the vertical direction V is positive, the pitch angle θb of the hull is given by the following equation.
θb = θt + θI + θo−90 ° (1) ′
The above equations (1) and (1) ′ are equivalent.

  Here, the trim angle θt can be detected by a trim angle sensor 302 attached to the PTT unit 303 attached to the outboard motor. The outboard motor mounting angle θI is a known constant value as described above.

  In the present invention, the inclination angle θo of the outboard motor is detected using the acceleration sensor 307 attached to the PTT controller 304 provided in the outboard motor, and the inclination angle θo and the trim detected by the trim angle sensor are detected. The pitch angle of the hull is calculated from the angle θt and the known mounting angle θI using the formula (1) or (1) ′, and the PTT motor is used according to the deviation between the calculated pitch angle and the target value of the pitch angle. By controlling 301, pitch angle target follow-up control is performed to converge the pitch angle of the hull to the target value. In the present invention, the target pitch angle tracking control is performed regardless of whether or not the ship is accelerating.

  The mounting angle θI is determined by the structure (tilt angle) of the stern (transam) of the hull when the outboard motor is mounted on the hull. Although it may be stored in memory, it is not only troublesome to measure the mounting angle, but it is also troublesome to input the mounting angle to the controller, so the mounting angle θI should be obtained by calculation Is preferred.

If the sign of the inclination angle θo when the outboard motor is tilted to the hull side with respect to the vertical direction is negative, the mounting angle θI of the outboard motor is stopped or sailing at a slow speed. From the trim angle θt and the tilt angle θo detected when the hull is kept almost horizontal, it can be calculated by the following equation.
θI = 90 ° + θo−θt (2)

  In this embodiment, when the control device is started, it is determined that the ship is stopped when the power is turned on and the engine is in a state before the start operation is performed, and the outboard motor is attached according to the above equation (2). Calculate the angle θI, or calculate the outboard motor mounting angle θI using the above equation (2) when it is determined that the ship has stopped or sailed at a slow speed after the engine has started. Then, the calculated mounting angle θI is stored in the memory.

When one of the following conditions is satisfied and a state where the condition is satisfied continues for a sufficiently long time, it can be determined that the ship is stopped or navigating at a slow speed.
a. The transmission gear position is in the neutral position.
b. The engine speed is the idling speed.
c. The throttle position is the idling position.

  Although the inclination angle θo of the outboard motor may be detected by an inclination angle sensor, in this embodiment, the inclination of the outboard motor is determined from the output of the acceleration sensor 307 provided in the PTT controller provided in the outboard motor. An inclination angle detection means for obtaining the angle θo by calculation is provided. When a biaxial acceleration sensor that detects biaxial accelerations orthogonal to each other is used as the acceleration sensor, as shown in FIG. 6, the acceleration Gy that works bidirectionally on the reference axis Y of the outboard motor and the reference plane The acceleration sensor 307 is attached so as to detect the acceleration Gx acting in the direction orthogonal to the reference axis Y, and the angle formed by the gravitational acceleration G with respect to the reference axis Y is obtained from the outputs Gy and Gx of the acceleration sensor. Thus, the inclination angle θo of the outboard motor can be obtained.

In this case, the angle formed by the gravitational acceleration G with respect to the reference axis Y (inclination angle θo of the outboard motor) can be obtained by the following equation.
θo = tan ⁻¹ (Gx / Gy) (3)

The inclination angle detecting means uses a uniaxial acceleration sensor having a function of detecting an acceleration Gx acting in a direction orthogonal to the reference axis on the reference plane, and uses the acceleration detected by the acceleration sensor to determine the inclination angle of the outboard motor. Can also be obtained by calculation. In this case, the inclination angle θo of the outboard motor can be obtained by the following equation.
θo = sin ⁻¹ Gx (4)

  Since the navigating hull performs a fine pitching motion and constantly vibrates, the detected value of the inclination angle of the outboard motor is not stable, and the detected value fluctuates as shown in FIG. 7, for example. When control is performed to converge to the target value using the instantaneous value of the detected value, the control may become unstable. Therefore, in this embodiment, the instantaneous value θo of the outboard motor inclination angle is calculated, and the instantaneous value of the inclination angle calculated repeatedly at the set time interval within the set averaging processing period (see FIG. 7). The average value θoavg of the tilt angle is calculated by calculating the average value of the pitch angle, and the pitch angle target follow-up control is performed so that the average value of the tilt angle converges to the target value. The averaging process period is set to about 5 seconds, for example.

  As described above, if the target pitch follow-up control means is configured so that the average value of the pitch angle converges to the target value, the influence of vibrations and fluctuations generated during navigation of the ship on the calculated value of the pitch angle is reduced. Stable control can be performed.

  In the present embodiment, it is also detected whether or not the hull jump phenomenon occurs, and the outboard motor is forcibly trimmed down when the jump phenomenon is detected. At the same time, control is performed to reduce the target value of the pitch angle of the hull. The initial value of the target value of the pitch angle of the hull is set to a value (for example, 5 °) suitable for stabilizing the navigation of the ship.

  Whether or not the hull splash phenomenon occurs is determined by the magnitude of the difference between the maximum value θomax and the minimum value θomin of the instantaneous value θomax of the outboard motor angle detected during a certain judgment period (inclination angle θo (Amplitude of fluctuations). In the present embodiment, the difference θomax−θomin = Wpitch between the maximum value θomax and the minimum value θomin of the instantaneous value of the inclination angle θo detected during the averaging process period (for example, 5 seconds) shown in FIG. 7 is set. When the limit value Wpmax is exceeded, it is determined that the jump phenomenon has occurred. The limit value Wpmax suitable for detecting the jumping phenomenon is obtained in advance by experiments.

  In this embodiment, it is also determined whether the instantaneous value of the pitch angle of the hull exceeds the set limit value θbmal, and when it is determined that the instantaneous value of the pitch angle exceeds the limit value, Trim-down control is performed to reduce the trim angle until the instantaneous value of the pitch angle is below the limit value. In this case, in the target pitch angle tracking control, when it is determined that the instantaneous value of the pitch angle exceeds the limit value, the target value of the pitch angle is decreased from the initial value, and the average value of the pitch angle is calculated. Trim angle control for convergence to the target value is performed. It is preferable that the limit value θbmal of the instantaneous value of the pitch angle is set to a value that is equal to or slightly smaller than the upper limit value of the pitch angle that allows stable navigation.

  In the present invention, the trim angle control unit controls the trim angle so as to keep the direction in which the thrust of the outboard motor works in the horizontal direction, and the trim angle so as to converge the average value of the pitch angles to the target value. In the process of performing target pitch angle tracking control, there is provided an inclination angle determination means for determining whether or not the instantaneous value θo of the outboard motor's inclination angle exceeds the set limit value θomal. Means for controlling the target pitch angle following control means when the instantaneous value θo of the outboard motor tilt angle is determined to be equal to or less than the set limit value θomal. When it is determined that the instantaneous value of the tilt angle of the machine exceeds the set limit value θomal, the control is switched so that the control by the thrust level control means is performed. The limit value θomal is set to a value slightly larger than the upper limit value of the variation range of the instantaneous value θb of the outboard motor inclination angle when the target pitch angle tracking control is accurately performed. This limit value θomal is also experimentally obtained in advance.

  FIG. 3 shows the configuration of the marine vessel control apparatus of the present embodiment. In the figure, 2 is a hull, 3 is an outboard motor, and the outboard motor 2 includes an outboard motor main body 300 and a power trim device 303. The power trim device 303 is disposed between the left and right brackets for attaching the outboard motor to the hull. The outboard motor main body 300 has a well-known structure in which an engine, a propeller, and a power transmission mechanism that transmits engine rotation to the propeller are housed in a housing, and a PTT controller 304 is provided in the outboard motor main body.

  A trim angle sensor 302 is attached to the power trim device 303, and a trim angle detection signal proportional to the trim angle of the outboard motor can be obtained from the trim angle sensor. In this embodiment, an acceleration sensor 307 is attached to the outboard motor main body 300, and a detection signal obtained from the acceleration sensor 307 is given to the tilt angle detection means 21. The tilt angle detection means 21 calculates the instantaneous value θo of the tilt angle with respect to the vertical direction of the outboard motor from the output of the acceleration sensor 307 using the above formula (3) or (4), and performs a certain averaging process. An average value of instantaneous values of inclination angles repeatedly calculated within a period is calculated, and an average value θoavg of inclination angles with respect to the vertical direction of the outboard motor is calculated.

  The instantaneous value θo of the tilt angle calculated by the tilt angle detecting means 21 is given to the instantaneous pitch angle calculating means 23 together with the trim angle θt detected by the trim angle sensor 302 and the mounting angle θI calculated by the mounting angle calculating means 22. It is done. The mounting angle calculation means 22 is configured to detect the trim angle θt detected by the trim angle sensor 302 when the system is activated, when the hull is stopped, or when the hull is navigating at a slow speed, The outboard motor mounting angle θI is calculated from the instantaneous value θo of the inclination angle using the above equation (2) and stored in the ROM. The instantaneous pitch angle calculation means 22 calculates the pitch of the hull from the mounting angle θI, the instantaneous value θo of the outboard motor inclination angle, and the trim angle θt detected by the trim angle sensor 302 using the equation (1). The instantaneous value θb of the corner is calculated.

  The average inclination angle θoavg calculated by the inclination angle detection means 21 is added to the average pitch angle calculation means 24 together with the trim angle θt detected by the trim angle sensor 302 and the attachment angle θI calculated by the attachment angle calculation means 22. Given. The average pitch angle calculation means 24 calculates the average pitch angle θbavg using the equation (1) every time the average value θoavg of the tilt angles is calculated.

  In this embodiment, the instantaneous pitch angle calculation means 23 and the average pitch angle calculation means 24 calculate the instantaneous value of the pitch angle of the hull from the instantaneous value θo of the tilt angle, the trim angle θt, and the mounting angle θI, Pitch angle calculation means for calculating the average value of the pitch angle of the hull from the average value θoavg of the inclination angle, the trim angle θt, and the mounting angle θI is configured.

  The average pitch angle value θbavg calculated by the average pitch angle calculation means 24 is given to the target pitch angle tracking control means 25. The target pitch angle follow-up control means 25 controls the PTT motor of the power trim device in accordance with the deviation between the average pitch angle value θbavg and the target pitch angle value, thereby converging the average pitch angle value θbavg to the target value. To control the trim angle θt.

  The instantaneous value θb of the pitch angle calculated by the instantaneous pitch angle calculation means 23 causes a jumping motion of the hull from the difference between the maximum value and the minimum value of the instantaneous value of the pitch angle calculated within a set fixed period. The jumping motion detection means 26 for detecting the presence of the pitch angle and the pitch angle determination means 27 for determining whether or not the instantaneous value of the pitch angle exceeds the set limit value.

  The jumping motion detection means 26 is the difference between the maximum value θbmax and the minimum value θbmin of the instantaneous value of the pitch angle calculated within a set fixed period (in this embodiment, the averaging process period shown in FIG. 7). θbmax−θbmin is compared with a set value, and when the difference θbmax−θbmin exceeds the set value, it is detected that the hull jumping motion has occurred.

  The pitch angle determination means 27 compares the instantaneous value of pitch angle θb with the set limit value, and determines whether or not the instantaneous value of pitch angle exceeds the limit value.

  The detection result of the jumping motion detection means 26 and the determination result of the pitch angle determination means 27 are given to the target pitch angle tracking control means 25 and the trim down control means 28.

  The trim down control means 28 performs trim down control to decrease the trim angle θt until the jumping motion is not detected when the jumping motion detection means 26 detects the jumping motion of the hull, and the pitch angle determination means 27 When it is determined that the instantaneous value θb of the pitch angle exceeds the limit value, trim down control is performed to decrease the trim angle until the instantaneous value θb of the pitch angle becomes equal to or less than the limit value.

  The target pitch angle follow-up control means 25 is configured such that when the jumping motion detection means 26 detects the jumping motion of the hull and the trim down control is performed, and the pitch angle determination means 27 causes the instantaneous value of the pitch angle to exceed the limit value. When the trim down control is performed and the condition for performing the target pitch angle tracking control is satisfied, the target value of the pitch angle is decreased from the initial value, and the average value θbavg of the pitch angles is obtained. The trim angle is controlled to converge to the target value.

  The instantaneous value θo of the inclination angle with respect to the vertical direction of the outboard motor detected by the inclination angle detection means 21 is also given to the inclination angle determination means 29. Inclination angle determination means 29 sets the instantaneous value of the outboard motor's inclination angle while the target pitch angle tracking control means 25 controls the trim angle so that the average value of the pitch angle converges to the target value. It is determined whether or not the limit value is exceeded.

  The determination result by the inclination angle determination unit 29 is given to the control switching unit 30. The control switching means 30 causes the target pitch angle tracking control means 25 to perform control when it is determined by the inclination angle determination means 29 that the instantaneous value of the outboard motor inclination angle is equal to or less than the set limit value. Then, when it is determined by the inclination angle determination means 29 that the instantaneous value of the outboard motor's inclination angle exceeds the set limit value, the direction in which the outboard motor's thrust acts is maintained in a substantially horizontal direction. The control is switched so that the control is performed by the thrust level control means 31 for controlling the angle.

  The thrust level control means 31 controls the trim angle so as to make the inclination angle θo zero by controlling the PTT motor in accordance with the inclination angle θo with respect to the vertical direction of the outboard motor detected by the inclination angle detection means 21. Then, control is performed so that the direction of thrust of the outboard motor is maintained in a substantially horizontal direction.

  When the microprocessor determines that the hull is stopped after completing the initialization of each part after startup, or when it is determined that the ship is navigating at a slow speed, the microprocessor uses the equation (2) to The mounting angle θI is calculated and the calculated value is stored in the RAM. The attachment angle calculating means 22 is configured by this process.

  The microprocessor also samples the output of the acceleration sensor 307 at a predetermined sampling period, calculates the inclination angle θo of the outboard motor every time it is sampled, and averages the inclination angle every time a certain averaging processing period elapses. The value θoavg is calculated. The inclination angle detecting means 21 is configured by these processes.

  The microprocessor calculates the instantaneous value θb of the hull pitch angle every time the instantaneous value θo of the hull angle is calculated, and calculates the average value θbavg of the pitch angle every time the average value θoavg of the hull angle is calculated. To do. The instantaneous pitch angle calculation means 23 and the average pitch angle calculation means 24 are configured by these processes.

  FIG. 4 is a flowchart showing an algorithm of processing executed by the microprocessor at a minute time interval in order to realize each means shown in FIG. 3 other than the above. In the case of this algorithm, first, in step S1, it is determined whether or not the instantaneous value θb of the pitch angle exceeds the limit value θbmal of the pitch angle. As a result, when it is determined that the instantaneous value θb of the pitch angle does not exceed the limit value θbmal of the pitch angle, the process proceeds to step S2 and the maximum value θbmax and the minimum value θbmin of the pitch angle θb detected within the averaging process period. The difference Wpitch = θbmax−θbmin is calculated as the pitch angle amplitude. Next, the routine proceeds to step S3, where it is determined whether or not the pitch angle amplitude Wpitch exceeds the limit value Wpmax. When it is determined that the pitch angle amplitude Wpitch does not exceed the limit value Wpmax, it is assumed that the hull jump phenomenon has not occurred. The process proceeds to step S4. In step S4, it is determined whether or not the pitch angle target tracking control is selected by checking whether or not the flag PitchFB is set.

  The flag PitchFB is set when the automatic control mode is selected by the mode switch 401 when the system is activated. Accordingly, since the flag PitchFB is initially set, it is determined that the target pitch angle tracking control is selected, and the process proceeds to step S5 to perform the target pitch angle tracking control. In the target pitch angle tracking control, the pitch angle is set to the target value by controlling the PTT motor of the power trim device in accordance with the deviation between the pitch angle θb calculated by the pitch angle calculating means and the set target value of the pitch angle. The trim angle is controlled to converge.

  After the target pitch angle tracking control is performed in step S5, the process proceeds to step S6 to determine whether or not the instantaneous value θo of the outboard motor inclination angle exceeds the limit value θomal. As a result, if the instantaneous value θo of the inclination angle with respect to the vertical direction of the outboard motor does not exceed the limit value θomal, this process is terminated without doing anything thereafter. If it is determined in step S6 that the instantaneous value θo of the tilt angle exceeds the limit value θomal, the process proceeds to step S7, the flag PitchFB is reset, and the control mode is switched to the thrust horizontal control.

  The limit value θomal of the instantaneous inclination angle θo is detected when the hull length is relatively short and the hull pitch angle responds to changes in trim angle (when target pitch angle tracking control works effectively). The instantaneous value θo of the outboard motor is set to a value slightly larger than the maximum value θomax. If the hull length is long and the pitch angle of the hull hardly changes even if the trim angle is changed, the instantaneous value θo of the tilt angle will eventually exceed the limit value θomal during the target pitch angle tracking control. Therefore, the control can be switched to thrust level control by shifting to step S7.

  When it is determined in step S1 that the instantaneous value θb of the pitch angle exceeds the limit value θbmal, and when it is determined in step S3 that the pitch angle amplitude Wpitch exceeds the limit value Wpmax, the process proceeds to step S8. Then, trim down control for decreasing the trim angle of the outboard motor is performed until the instantaneous value θb of the pitch angle becomes equal to or less than the limit value. After performing trim down control, it progresses to step S9 and it is determined whether the flag PitchFB is set (whether target pitch angle follow-up control is selected). As a result, when the flag PitchFB is set, the process proceeds to step S11, the target value of the pitch angle is decreased by a fixed value from the initial value, and this process is terminated. If it is determined in step S9 that the flag PitchFB has not been set, this process is terminated without doing anything thereafter.

  If it is determined in step S4 that the target pitch angle follow-up control is not selected, the process proceeds to step S11, and thrust level control is performed to control the trim angle so as to keep the direction in which the outboard motor thrust acts in the horizontal direction. Let it be done.

  In the case of the algorithm shown in FIG. 4, the pitch angle determination means 27 for determining whether or not the instantaneous value of the pitch angle exceeds the set limit value is configured in step S1, and in steps S2 and S3. Jumping motion detection that detects the occurrence of a jumping motion of the hull when the difference between the maximum and minimum pitch angle values calculated within a set period exceeds the set value. Means 26 are configured.

  In step S5, the power trim device is controlled according to the deviation between the pitch angle θb calculated by the pitch angle calculation means and the target value of the pitch angle during the navigation of the ship, so that the pitch angle is set to the target value. A target pitch angle follow-up control means 25 for controlling the trim angle so as to converge is configured, and the jumping motion is detected when the jumping motion detection means 26 detects the jumping motion of the hull in steps S1, S3 and S8. Trim down control is performed to reduce the trim angle until it is no longer performed. When the pitch angle determination means 27 determines that the instantaneous value of the pitch angle exceeds the limit value, trimming is performed until the instantaneous value of the pitch angle becomes less than the limit value. Trim-down control means 28 for performing trim-down control for reducing the angle is configured.

  Further, in step S11, the thrust horizontal control means 31 is configured to control the trim angle so as to keep the direction in which the thrust of the outboard motor works in the horizontal direction. In steps S9 and S10, the jump of the hull is detected by the jumping motion detection means. The target pitch angle is tracked when a jump motion is detected and trim down control is performed, or when the pitch angle determining means determines that the instantaneous value of the pitch angle exceeds the limit value and trim down control is performed. A means for reducing the target value of the pitch angle in the control is configured.

  Further, in steps S6 and S7, the instantaneous value of the inclination angle of the outboard motor is set while the trim angle is controlled so that the target pitch angle tracking control means converges the average value of the pitch angle to the target value. Inclination angle determination means for determining whether or not the value exceeds the inclination angle determination means 29 and target pitch angle tracking when it is determined that the instantaneous value of the outboard motor inclination angle is less than or equal to the set limit value Control by the control means, and control by the thrust level control means when the instantaneous angle value of the outboard motor is determined to exceed the set limit value by the tilt angle determination means. A control switching means 30 for switching the control is configured.

  By providing the control switching means as described above, when the hull to which the outboard motor is attached is long and the pitch angle does not change even if the trim angle is changed, the instantaneous value of the outboard motor inclination angle is When the limit value is reached, the control by the target pitch angle tracking control means is switched to the control by the thrust level control means, so the trim angle becomes excessively large when the outboard motor is attached to a long hull, and the fuel consumption Can be prevented from getting worse.

  In order to stably perform the target pitch angle follow-up control, the tilt angle detecting means is configured to calculate not only the instantaneous value of the tilt angle but also the average value as in the above-described embodiment. It is preferable to control so that the average value of the pitch angle of the hull calculated using the average value converges to the target value, but the present invention is not limited to this, and the instantaneous value of the pitch angle is set to the target value. The target pitch angle tracking control may be performed so as to converge.

  In the above embodiment, the mounting angle θI is obtained by calculation. However, when the outboard motor is mounted on the hull, an actual measured value of the mounting angle may be input to the controller and stored in the ROM.

  In the above embodiment, the jumping motion detection means and the pitch angle determination means are provided, and when the jumping motion detection means detects the jumping motion of the hull, the trim angle is decreased until the jumping motion is not detected. Trim-down control is performed. When the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value, trim-down control is performed to decrease the trim angle until the instantaneous value of the pitch angle falls below the limit value. Although the trim down control means is configured as described above, these can be omitted.

  As a means for detecting the state of the hull, omitting the pitch angle determination means, the difference between the maximum value and the minimum value of the instantaneous value of the pitch angle calculated within the set fixed period exceeds the set value. Only the jumping motion detection means for detecting the occurrence of the jumping motion of the hull is detected, and when the jumping motion of the hull is detected by this jumping motion detection means, until the jumping motion is not detected The trim down control means may be configured to perform trim down control for reducing the trim angle. In this case, the target pitch angle follow-up control means decreases the pitch angle target value when the jumping motion detection means detects the jumping motion of the hull and performs trim down control, and the pitch angle is set to the target value. The trim angle is controlled so as to converge to.

  Further, as a means for determining the state of the hull, omitting the jumping motion detection means, only a pitch angle determination means for determining whether or not the instantaneous value of the pitch angle exceeds a set limit value is provided, and this pitch angle is provided. When the determination means determines that the instantaneous value of the pitch angle exceeds the limit value, the trim down control means is configured to perform trim down control to decrease the trim angle until the instantaneous value of the pitch angle becomes equal to or less than the limit value. It may be configured. In this case, the target pitch angle tracking control means decreases the pitch angle target value when the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value and the trim down control is performed. Thus, the trim angle is controlled so as to converge the average value of the pitch angles to the target value.

  The initial value of the target value of the pitch angle in the target pitch angle tracking control may be a fixed value or may be adjusted appropriately by the driver.

  If the control switching means is provided as described above, the trim angle is excessively large when the hull to which the outboard motor is attached is long and the pitch angle does not change even if the trim angle is changed. However, when it is known that the outboard motor is not attached to a long hull, the control switching means can be omitted.

  The inclination angle determination means 29 used in the above embodiment is the inclination angle of the outboard motor in the process in which the target pitch angle follow-up control means 25 controls the trim angle so that the average value of the pitch angles converges to the target value. Is determined so as to determine whether or not the instantaneous value exceeds the set limit value, but the inclination angle determining means 29 is configured so that the average value of the outboard motor inclination angle exceeds the set limit value. It may be configured to determine whether or not both the instantaneous value and the average value of the inclination angle of the outboard motor exceed a set limit value.

  That is, the tilt angle determination means 29 is configured to control the trim angle so that the target pitch angle follow-up control means converges the average value of the pitch angle to the target value. It is sufficient to determine whether or not at least one of the two exceeds a set limit value, and the control switching means 30 uses the inclination angle determination means 29 to determine the instantaneous value and average value of the outboard motor inclination angle. When it is determined that at least one of the values is equal to or less than the set limit value, control by the target pitch angle tracking control unit is performed, and at least the instantaneous value and the average value of the outboard motor tilt angle are controlled by the tilt angle determination unit. What is necessary is just to be comprised so that control may be switched so that control by a thrust level control means may be performed when it determines with one side exceeding the set limit value.

It is the block diagram which showed schematically the structure of the hardware of embodiment of this invention. It is the block diagram which showed the control mode of the control apparatus of this embodiment. It is the block diagram which showed the whole structure of the control apparatus containing the means comprised by a microprocessor in embodiment of this invention. 4 is a flowchart illustrating an example of an algorithm of a main part of processing executed by a microprocessor to configure a control device in the embodiment of the present invention. (A) thru | or (C) are the side views which showed the various states of the ship by which the outboard motor was attached to the hull. It is a principal part side view used in order to demonstrate the principle which detects the inclination-angle of an outboard motor with an acceleration sensor in embodiment of this invention. It is the graph which showed an example of the temporal change of the instantaneous value of the inclination angle of the outboard motor detected by the inclination angle detection means in the embodiment of the present invention. (A) And (B) is the side view which showed the different navigation attitude | position of the ship provided with the outboard motor. It is the side view which showed the other navigation attitude of the ship provided with the outboard motor. (A) thru | or (C) is a side view used in order to demonstrate a mode that the ship by which the outboard motor was attached to the hull performs jumping movement during navigation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ship 2 Hull 3 Outboard motor 300 Outboard motor main body 301 PTT motor 302 Trim angle sensor 303 Power trim device 304 PTT controller 307 Acceleration sensor 21 Inclination angle detection means 22 Mounting angle calculation means 23 Instantaneous pitch angle calculation means 24 Average pitch angle Calculation means 25 Target pitch angle follow-up control means 26 Jumping motion detection means 27 Pitch angle determination means 28 Trim down control means 29 Inclination angle determination means 30 Control switching means

Claims (11)

A marine vessel control device that controls a trim angle of the outboard motor of a boat comprising a hull and an outboard motor equipped with a power trim device and attached to the stern of the hull,
A trim angle sensor for detecting the trim angle θt of the outboard motor;
An inclination angle detecting means for detecting an inclination angle θo with respect to a vertical direction of the outboard motor;
The pitch of the hull from the mounting angle θI of the outboard motor with respect to the hull, the trim angle θt of the outboard motor detected by the trim angle sensor, and the tilt angle θo detected by the tilt angle detecting means. A pitch angle calculating means for calculating the angle θb;
The pitch angle is converged to the target value by controlling the power trim device according to a deviation between the pitch angle θb calculated by the pitch angle calculating means and the target value of the pitch angle during the navigation of the ship. Target pitch angle follow-up control means for controlling the trim angle,
A marine control apparatus comprising:   2. The marine vessel control device according to claim 1, wherein the target pitch angle tracking control unit is configured to perform control to converge the pitch angle to the target value even when the marine vessel is accelerating. Of the planes including the central axis of the outboard motor propeller, one plane that is in a state along the vertical direction when the hull is floating on a still water surface is taken as a reference plane, and the plane on the reference plane is The direction along the waterline of the hull is the longitudinal direction of the hull, and when the outboard motor is at the set minimum trim position, the mounting angle θI is made with respect to the longitudinal direction of the hull on the reference plane. When a straight line along the outboard motor is a reference axis of the outboard motor,
The angle formed by the reference axis of the outboard motor with respect to the vertical direction on the reference plane is the inclination angle θo of the outboard motor,
The angle obtained by subtracting the mounting angle θI from the angle formed by the reference axis of the outboard motor with respect to the longitudinal direction of the hull on the reference plane is the trim angle θt,
The pitch angle calculation means is configured such that θb = θt + θI−θo−90 ° when the sign of the inclination angle θo is negative when the reference axis of the outboard motor is inclined toward the hull with respect to the vertical direction. The marine vessel control device according to claim 1, wherein the pitch angle θb is calculated by an arithmetic expression represented by:   The inclination angle detecting means includes an acceleration sensor having a function of detecting an acceleration Gy acting in a direction along the reference axis of the outboard motor and an acceleration Gx acting in a direction perpendicular to the reference axis on the reference plane. 4. The marine vessel control apparatus according to claim 3, wherein the marine vessel control apparatus is configured to obtain an inclination angle θo of the outboard motor by calculation from accelerations Gy and Gx detected by the acceleration sensor.   The inclination angle detection means includes an acceleration sensor having a function of detecting an acceleration Gx acting in a direction orthogonal to the reference axis on the reference plane, and the outboard motor is detected from the acceleration Gx detected by the acceleration sensor. The marine vessel control device according to claim 3, configured to obtain an inclination angle by calculation. The tilt angle detection means is configured to detect an instantaneous value of the tilt angle and also detect an average value of the tilt angle within a set averaging process period,
The pitch angle calculating means calculates an instantaneous value of the pitch angle of the hull using the instantaneous value of the tilt angle, and also calculates an average value of the pitch angle of the hull using the average value of the tilt angle. Configured,
6. The marine vessel control apparatus according to claim 1, wherein the target pitch tracking control means controls the trim angle so that an average value of pitch angles calculated by the pitch angle calculating means converges to the target value.   An arithmetic expression represented by θI = 90 ° + θo−θt is used when the sign of the inclination angle θo when the reference axis of the outboard motor is inclined toward the hull with respect to the vertical direction is negative. The outboard motor mounting angle calculating means for calculating the mounting angle θI of the outboard motor when the marine vessel is stopped is provided. Jumping motion detection means for detecting that the jumping motion of the hull is occurring when the difference between the maximum value and the minimum value of the instantaneous value of the pitch angle calculated within a set fixed period exceeds the set value. And trim down control means for performing trim down control for reducing the trim angle until the jump movement is no longer detected when the jump movement detection of the hull is detected by the jump movement detection means. ,
The target pitch angle tracking control means decreases the target value of the pitch angle when the jump movement detection of the hull is detected by the jump movement detection means and the trim down control is performed. The marine vessel control device according to claim 6 or 7 configured to control the trim angle for convergence to the target value. Pitch angle determination means for determining whether or not the instantaneous value of the pitch angle exceeds a set limit value;
Trim for performing trim-down control to decrease the trim angle until the instantaneous value of the pitch angle becomes equal to or less than the limit value when the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value And a down control means,
The target pitch angle follow-up control means decreases the target value of the pitch angle when the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value and the trim down control is performed. The marine vessel control device according to any one of claims 6 to 8, wherein the trim angle control is performed to converge the average value of the pitch angles to the target value. Jumping motion detection means for detecting whether or not a jumping motion of the hull has occurred from the difference between the maximum and minimum values of the instantaneous value of the pitch angle calculated within a set fixed period, and the instantaneous of the pitch angle Pitch angle determining means for determining whether or not a value exceeds a set limit value, and when the jumping motion detection means detects the jumping motion of the hull until the jumping motion is not detected. Trim down control for reducing the trim angle is performed, and when the pitch angle determination means determines that the instantaneous value of the pitch angle exceeds the limit value, the trim is performed until the instantaneous value of the pitch angle becomes equal to or less than the limit value. Trim down control means for performing trim down control to reduce the angle is further provided,
The target pitch angle follow-up control means is configured such that when the jump motion of the hull is detected by the jump motion detection means and the trim down control is performed, the instantaneous value of the pitch angle is set to the limit value by the pitch angle determination means. When the trim down control is performed because it is determined that the pitch angle is exceeded, the target value of the pitch angle is decreased, and the trim angle is controlled to converge the pitch angle to the target value. The marine vessel control device according to claim 6 or 7, wherein the marine vessel control device is configured. Thrust level control means for controlling the trim angle so as to keep the direction in which the thrust of the outboard motor works in a horizontal direction;
When the target pitch angle tracking control means controls the trim angle so that the average value of the pitch angle converges to the target value, at least one of the instantaneous value and the average value of the inclination angle of the outboard motor is An inclination angle determining means for determining whether or not a set limit value is exceeded;
When the inclination angle determination means determines that at least one of an instantaneous value and an average value of the inclination angle of the outboard motor is equal to or less than a set limit value, control by the target pitch angle tracking control means is performed. Control by the thrust level control means when it is determined by the inclination angle determination means that at least one of an instantaneous value and an average value of the inclination angle of the outboard motor exceeds a set limit value. Control switching means for switching control so as to be performed;
The marine vessel control device according to claim 6, further comprising:

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