JP2009286297A - 小型船舶の制御装置 - Google Patents
小型船舶の制御装置 Download PDFInfo
- Publication number
- JP2009286297A JP2009286297A JP2008141963A JP2008141963A JP2009286297A JP 2009286297 A JP2009286297 A JP 2009286297A JP 2008141963 A JP2008141963 A JP 2008141963A JP 2008141963 A JP2008141963 A JP 2008141963A JP 2009286297 A JP2009286297 A JP 2009286297A
- Authority
- JP
- Japan
- Prior art keywords
- correction amount
- acceleration
- engine
- ship
- vessel
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J99/00—Subject matter not provided for in other groups of this subclass
-
- 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
Abstract
【解決手段】船体と、エンジン(内燃機関)で駆動される2基の船外機と、スロットルバルブを開閉してエンジン(機関)回転数を増減するアクチュエータを備えた小型船舶の制御装置において、船舶に作用する重力軸方向の加速度と重力軸回りの角加速度とを示す出力を少なくとも生じる加速度センサの出力に基づき、船舶の挙動が変化するように前記エンジン(機関)回転数NEの補正量を算出し(S10からS16)、算出された補正量に応じてアクチュエータの動作を制御する(S18)。
【選択図】図4
Description
Claims (3)
- 船体と、内燃機関で駆動されると共に、前記船体に固定された少なくとも1基の船外機と、前記内燃機関のスロットルバルブを開閉して機関回転数を増減するアクチュエータとを少なくとも備えた小型船舶の制御装置において、前記船体に配置されると共に、前記船舶に作用する重力軸方向の加速度と前記重力軸回りの角加速度とを示す出力を少なくとも生じる加速度センサと、前記加速度センサの出力に基づき、前記船舶の挙動が変化するように前記機関回転数の補正量を算出する補正量算出手段と、前記算出された補正量に応じて前記アクチュエータの動作を制御するアクチュエータ制御手段とを備えることを特徴とする小型船舶の制御装置。
- 前記補正量算出手段は、前記重力軸方向の加速度が増加するとき、前記船舶の航行速度が増加するように前記機関回転数の補正量を算出することを特徴とする請求項1記載の小型船舶の制御装置。
- 前記船外機を少なくとも2基備えると共に、方位角センサと、前記方位角センサの出力から航行方位を算出する航行方位算出手段とを備え、前記補正量算出手段は、前記算出された航行方位を前記重力軸回りの角加速度に応じて修正し、前記船舶が前記修正された方位に沿って航行するように前記少なくとも2基の船外機の内燃機関の機関回転数の補正量を算出することを特徴とする請求項1記載の小型船舶の制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008141963A JP5138469B2 (ja) | 2008-05-30 | 2008-05-30 | 小型船舶の制御装置 |
US12/387,624 US7993171B2 (en) | 2008-05-30 | 2009-05-05 | Control apparatus for small boat |
CA2666669A CA2666669C (en) | 2008-05-30 | 2009-05-25 | Control apparatus for small boat |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008141963A JP5138469B2 (ja) | 2008-05-30 | 2008-05-30 | 小型船舶の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009286297A true JP2009286297A (ja) | 2009-12-10 |
JP5138469B2 JP5138469B2 (ja) | 2013-02-06 |
Family
ID=41380401
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008141963A Active JP5138469B2 (ja) | 2008-05-30 | 2008-05-30 | 小型船舶の制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7993171B2 (ja) |
JP (1) | JP5138469B2 (ja) |
CA (1) | CA2666669C (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6167392B1 (ja) * | 2016-10-05 | 2017-07-26 | 株式会社ニチギ | 水上移動体 |
JP2017171088A (ja) * | 2016-03-23 | 2017-09-28 | ヤンマー株式会社 | 小型船舶 |
WO2018179447A1 (ja) * | 2017-03-31 | 2018-10-04 | 本田技研工業株式会社 | 船舶推進装置 |
US11554843B2 (en) | 2020-01-29 | 2023-01-17 | Yamaha Hatsudoki Kabushiki Kaisha | Course control system for marine vessel, and marine vessel |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016074247A (ja) * | 2014-10-02 | 2016-05-12 | ヤマハ発動機株式会社 | 操船システム |
JP7439162B2 (ja) * | 2022-04-21 | 2024-02-27 | ヤマハ発動機株式会社 | 船舶の速度制御方法及び船舶 |
JP2023160045A (ja) | 2022-04-21 | 2023-11-02 | ヤマハ発動機株式会社 | 船舶の速度制御方法及び船舶 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001152898A (ja) * | 1999-12-01 | 2001-06-05 | Sanshin Ind Co Ltd | 航走特性制御装置 |
JP2004291688A (ja) * | 2003-03-25 | 2004-10-21 | Denso Corp | 船体速度制御装置及び方法 |
JP2005319967A (ja) * | 2004-05-11 | 2005-11-17 | Yamaha Motor Co Ltd | 推進機制御装置、推進機制御装置制御プログラム、推進機制御装置制御方法及び航走制御装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0558383A (ja) | 1991-09-03 | 1993-03-09 | Yamaha Motor Co Ltd | 船の姿勢制御方法 |
JPH10151928A (ja) * | 1996-09-25 | 1998-06-09 | Toyota Motor Corp | 車高調整装置 |
US6517396B1 (en) * | 2000-07-03 | 2003-02-11 | Stephen W. Into | Boat speed control |
JP4190855B2 (ja) * | 2002-10-23 | 2008-12-03 | ヤマハマリン株式会社 | 船舶の推進制御装置 |
WO2006075357A1 (ja) * | 2005-01-11 | 2006-07-20 | Yamaha Marine Kabushiki Kaisha | 船舶用エンジンのスロットルバルブ開度制御装置 |
JP4629020B2 (ja) * | 2006-11-20 | 2011-02-09 | 本田技研工業株式会社 | 船外機の制御装置 |
-
2008
- 2008-05-30 JP JP2008141963A patent/JP5138469B2/ja active Active
-
2009
- 2009-05-05 US US12/387,624 patent/US7993171B2/en active Active
- 2009-05-25 CA CA2666669A patent/CA2666669C/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001152898A (ja) * | 1999-12-01 | 2001-06-05 | Sanshin Ind Co Ltd | 航走特性制御装置 |
JP2004291688A (ja) * | 2003-03-25 | 2004-10-21 | Denso Corp | 船体速度制御装置及び方法 |
JP2005319967A (ja) * | 2004-05-11 | 2005-11-17 | Yamaha Motor Co Ltd | 推進機制御装置、推進機制御装置制御プログラム、推進機制御装置制御方法及び航走制御装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017171088A (ja) * | 2016-03-23 | 2017-09-28 | ヤンマー株式会社 | 小型船舶 |
JP6167392B1 (ja) * | 2016-10-05 | 2017-07-26 | 株式会社ニチギ | 水上移動体 |
JP2018058498A (ja) * | 2016-10-05 | 2018-04-12 | 株式会社ニチギ | 水上移動体 |
WO2018179447A1 (ja) * | 2017-03-31 | 2018-10-04 | 本田技研工業株式会社 | 船舶推進装置 |
JPWO2018179447A1 (ja) * | 2017-03-31 | 2019-04-11 | 本田技研工業株式会社 | 船舶推進装置 |
US11554843B2 (en) | 2020-01-29 | 2023-01-17 | Yamaha Hatsudoki Kabushiki Kaisha | Course control system for marine vessel, and marine vessel |
Also Published As
Publication number | Publication date |
---|---|
US20090298359A1 (en) | 2009-12-03 |
US7993171B2 (en) | 2011-08-09 |
JP5138469B2 (ja) | 2013-02-06 |
CA2666669A1 (en) | 2009-11-30 |
CA2666669C (en) | 2011-04-26 |
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