JP5723718B2 - Outboard motor control device - Google Patents

Description

  The present invention relates to an outboard motor control apparatus, and more particularly to an outboard motor control apparatus including a transmission.

  In recent years, in outboard motors, a technology has been proposed in which a transmission is inserted into a power transmission shaft that transmits power from an internal combustion engine mounted on the propeller to shift the output of the internal combustion engine and transmit it to the propeller. (For example, refer to Patent Document 1). In the technique described in Patent Document 1, when a throttle lever is operated by a ship operator and acceleration is instructed, the transmission speed (gear ratio) of the transmission is changed from the second speed to the first speed. Amplifying the torque transmitted to the propeller to improve the acceleration performance, and thereafter, when the rotation speed of the internal combustion engine increases and the acceleration is finished, the gear position is returned from the first speed to the second speed.

JP 2009-190671 A

  By the way, as in the technique described in Patent Document 1, when the shift stage is shifted from the first speed to the second speed at the end of acceleration, the torque is not amplified by the transmission, so the torque transmitted to the propeller is reduced and the operator is reduced. Sometimes slowed down.

  Therefore, it is conceivable to reduce the feeling of deceleration by starting trim-up before adjusting to the second speed, adjusting the trim angle, and increasing the speed of the ship. However, when the timing for starting trim-up is determined based on, for example, only the engine speed, that is, when trim-up is started when the engine speed reaches a predetermined speed, the specifications of the hull (eg, offshore boat, Depending on the bus boat, etc., the resistance (hull resistance) received from the water surface at the time of navigation is different, which may cause problems such as pitching (pitch) in the hull without proper timing.

  Accordingly, the object of the present invention is to solve the above-mentioned problems, and to provide a transmission, reduce the feeling of deceleration generated at the time of shifting at the end of acceleration and prevent the occurrence of pitching due to trim-up regardless of the specifications of the hull. It is an object of the present invention to provide an outboard motor control device.

In order to solve the above-described problem, according to claim 1, the power transmission shaft for transmitting the power from the internal combustion engine to the propeller is inserted, and at least the first speed and the speed ratio 2 smaller than the first speed are 2 A transmission gear having a speed, the output of the internal combustion engine being changed at a selected gear speed and transmitted to the propeller, and a trim angle with respect to the hull adjusted by trimming up / down Whether or not acceleration is instructed by the operator to the internal combustion engine when the second speed is selected in a control device for an outboard motor that is capable of being attached to the hull. An acceleration instruction determining means for determining; an engine speed detecting means for detecting the engine speed of the internal combustion engine; and a navigation acceleration detecting means for detecting a navigation acceleration indicating a change amount of the navigation speed per predetermined time. Navigation acceleration decrease change determining means for determining whether or not the detected navigation acceleration is changing in a decreasing direction during navigation; and when it is determined that the acceleration is instructed, the transmission is operated to operate the second speed A first speed transmission means for shifting from the first speed to the first speed, and after the first speed transmission means shifts to the first speed, the detected engine speed is greater than or equal to a predetermined speed and the detected navigation acceleration is predetermined Trim-up starting means for starting the trim-up by operating the trim angle adjusting mechanism when it is determined that the navigation acceleration is less than the value and the navigation acceleration is changing in the decreasing direction.

  The outboard motor control apparatus according to claim 2, wherein the trim-up is stopped when the trim angle reaches a predetermined angle after the trim-up is started by the trim-up starting means. A stop means is provided.

  The outboard motor control device according to claim 3 includes a receiving device for receiving a GPS signal, and the navigation acceleration detecting means is configured to detect the navigation acceleration based on an output of the receiving device. did.

  In the outboard motor control device according to claim 4, the navigation acceleration detecting means detects the navigation speed based on the output of the receiving device, and differentiates the detected navigation speed, The navigation acceleration is detected.

  The outboard motor control apparatus according to claim 5 includes a throttle opening change amount detecting means for detecting a change amount of the throttle opening of the internal combustion engine, and the acceleration instruction determining means is detected. When the amount of change in the throttle opening is equal to or greater than a predetermined value, it is determined that the acceleration is instructed.

In the outboard motor control apparatus according to claim 1, the second gear is selected by the transmission and the transmission is operated when it is determined that the internal combustion engine is instructed to accelerate by the operator. Then, it is determined that the speed is changed from the second speed to the first speed with a large gear ratio , and thereafter the engine speed is equal to or higher than the predetermined speed, the navigation acceleration is equal to or lower than the predetermined value, and the navigation acceleration is changed in the decreasing direction. (In other words, when it is determined that acceleration using torque amplification at the first speed is approaching completion), the trim angle adjustment mechanism is operated to start trim-up. Regardless of the specifications, trim-up can be started at an appropriate timing according to the navigation state. As a result, even if the torque transmitted from the first gear to the second gear is reduced and the torque transmitted to the propeller is reduced after the acceleration is completed, the speed of the ship is increased by trimming up. In other words, the feeling of deceleration can be reduced. In addition, with the above-described configuration, trimming can be started at an appropriate timing, so that occurrence of pitching due to trimming can be prevented.

  In the outboard motor control apparatus according to claim 2, since the trim-up is stopped when the trim angle reaches a predetermined angle after the trim-up is started, the trim-up is stopped. Further, since trimming up is not performed excessively and can be stopped at an appropriate timing, it is possible to more effectively prevent problems such as pitching in the hull.

  The outboard motor control device according to claim 3 is provided with a receiving device that receives a GPS signal, and is configured to detect the navigation acceleration based on the output of the receiving device. The navigation acceleration can be accurately detected with a simple configuration.

  In the outboard motor control apparatus according to claim 4, the navigation speed is detected based on the output of the receiving apparatus that receives the GPS signal, and the navigation acceleration is detected by differentiating the detected navigation speed. Thus, in addition to the effect described in claim 3, the navigation acceleration can be detected more accurately.

  The outboard motor control apparatus according to claim 5 detects the amount of change in the throttle opening of the internal combustion engine, and instructs acceleration when the detected amount of change in the throttle opening is equal to or greater than a predetermined value. In addition to the effects described above, it is possible to accurately determine that the acceleration instruction has been made.

It is the schematic which shows the control apparatus of the outboard motor based on the Example of this invention whole including a hull. FIG. 2 is a partially sectional enlarged side view of the outboard motor shown in FIG. 1. FIG. 2 is an enlarged side view of the outboard motor shown in FIG. 1. FIG. 3 is a hydraulic circuit diagram schematically showing a hydraulic circuit of the speed change mechanism shown in FIG. 2. 2 is a flowchart showing a shift control operation, a trim angle control operation, a throttle opening control operation, and an ignition timing control operation of the electronic control unit shown in FIG. FIG. 6 is a sub-routine flow chart illustrating a shift speed determination process of the flow chart. 6 is an explanatory graph showing the characteristics of the throttle opening with respect to the operation amount of the shift / throttle lever used in the processing of the flow chart of FIG. 5 is a sub-routine flow chart showing the trim-up execution determination processing of the flow chart. 5 is a sub-routine flowchart showing initial trim down execution determination processing of the flowchart of FIG. FIG. 9 is a time chart for explaining a part of the processing of the flow charts of FIGS. It is explanatory drawing explaining the process of the flowchart of FIGS. 5-8.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment for carrying out an outboard motor control apparatus according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic view showing an outboard motor control apparatus according to an embodiment of the present invention as a whole including a hull, FIG. 2 is a partially sectional enlarged side view of the outboard motor shown in FIG. 1, and FIG. It is an enlarged side view of a machine.

  1 to 3, reference numeral 1 denotes a ship in which an outboard motor 10 is mounted on a hull (hull) 12. As shown well in FIG. 2, the outboard motor 10 can be attached to the rear (stern) 12 a of the hull 12 via the swivel case 14, the tilting shaft 16 and the stern bracket 18.

  In the vicinity of the swivel case 14, a steering electric motor (actuator) 22 that drives a swivel shaft 20 that is housed in the swivel case 14 so as to be rotatable about a vertical axis, and a tilt of the outboard motor 10 with respect to the hull 12. A power tilt trim unit (actuator; trim angle adjusting mechanism; hereinafter referred to as “trim unit”) 24 capable of adjusting the angle or trim angle by tilting up / down or trimming up / down is disposed.

  The rotation output of the electric motor 22 for steering is transmitted to the swivel shaft 20 via the reduction gear mechanism 26 and the mount frame 28. Therefore, the outboard motor 10 uses the swivel shaft 20 as a turning axis to the left and right (around the vertical axis). Steered.

  The trim unit 24 is integrally provided with a hydraulic cylinder 24a for adjusting the tilt angle and a hydraulic cylinder 24b for adjusting the trim angle. By extending and contracting the hydraulic cylinders 24a and 24b, the swivel case 14 uses the tilting shaft 16 as a rotation axis. Rotated, the outboard motor 10 is tilted up / down or trimmed up / down. The hydraulic cylinders 24a and 24b are connected to a hydraulic circuit (not shown) disposed in the outboard motor 10 and are expanded and contracted by the supply of hydraulic oil. Further, since both the tilt angle and the trim angle are values indicating the rotation angle of the outboard motor main body with the tilting shaft 16 as the rotation axis, they are simply referred to as “trim angle” in the following description.

  An internal combustion engine (hereinafter referred to as “engine”) 30 is mounted on the outboard motor 10. The engine 30 is a spark-ignition water-cooled gasoline engine having a displacement of 2200 cc. The engine 30 is located on the water surface and is covered with an engine cover 32.

  A throttle body 36 is connected to the intake pipe 34 of the engine 30. The throttle body 36 includes a throttle valve 38 therein, and a throttle electric motor (actuator) 40 for opening and closing the throttle valve 38 is integrally attached thereto.

  The output shaft of the electric motor 40 for throttle is connected to the throttle valve 38 via a reduction gear mechanism (not shown), and the throttle valve 38 is opened and closed by operating the electric motor 40 for throttle. The engine speed (engine speed) is adjusted by metering.

  The outboard motor 10 is supported rotatably around a vertical axis, and a drive shaft (power transmission shaft) 42 whose upper end is connected to a crankshaft (not shown in FIG. 2) of the engine 30 and a horizontal axis. A propeller shaft (power transmission shaft) 46, which is rotatably supported and has a propeller 44 attached to one end thereof, is inserted between the drive shaft 42 and the propeller shaft 46, and from first speed, second speed, and third speed. A transmission (automatic transmission) 48 having a plurality of shift stages is provided. In other words, power from the engine 30 can be transmitted to the propeller 44 via the drive shaft 42, the transmission 48, and the propeller shaft 46.

  The propeller shaft 46 is arranged so that its axis 46a is substantially parallel to the traveling direction of the ship 1 in the initial state of the trim unit 24 (trim angle θ is the initial angle (0 °)).

  The transmission 48 includes a transmission mechanism 50 that can switch a plurality of shift speeds, and a shift mechanism 52 that can switch a shift position to a forward position (forward position), a reverse position (reverse position), and a neutral position.

  FIG. 4 is a hydraulic circuit diagram schematically showing a hydraulic circuit of the speed change mechanism 50.

  As shown in FIGS. 2 and 4, the speed change mechanism 50 includes a drive shaft (input shaft) 42, a counter shaft 54 connected to the drive shaft 42 via speed change gears, and the counter shaft 54 via a plurality of speed change gears. The first connecting shaft (output shaft) 56 connected in parallel is a parallel shaft stepped transmission mechanism arranged in parallel.

  A hydraulic pump (gear pump; only shown in FIGS. 2 and 4) 60 that pumps hydraulic oil (lubricating oil, oil) to a later-described hydraulic clutch and a lubricating portion is connected to the countershaft 54. The shafts 42, 54, 56, the hydraulic pump 60, and the like are accommodated in a case (shown only in FIG. 2) 62, and the lower portion of the case 62 constitutes an oil pan 62a that receives hydraulic oil.

  In the speed change mechanism 50 configured as described above, a gear arranged on a shaft so as to be relatively rotatable is fixed on the shaft by a speed change clutch. Any one of the gears is selected (established), and the output of the engine 30 is shifted at the selected gear and transmitted to the propeller 44 via the shift mechanism 52 and the propeller shaft 46. The gear ratio of each gear stage is set so that the first speed is the largest and the second speed and the third speed become smaller. Specifically, for example, the first gear ratio is 2.3, the second gear ratio is 1.9, and the third gear ratio is 1.7.

  The transmission mechanism 50 will be specifically described. As shown in FIG. 4, an input primary gear 64 is supported on the drive shaft 42. A counter primary gear 66, a counter first speed gear 68, a counter second speed gear 70, and a counter third speed gear 72 that mesh with the input primary gear 64 are supported on the counter shaft 54.

  The first connecting shaft 56 has an output first speed gear 74 meshed with the counter first speed gear 68, an output second speed gear 76 meshed with the counter second speed gear 70, and an output meshed with the counter third speed gear 72. The third gear 78 is supported.

  In the above description, when the output first speed gear 74 supported by the first connection shaft 56 so as to be relatively rotatable is coupled to the first connection shaft 56 by the first speed clutch C1, the first speed (gear, gear stage) is established. To do. The first-speed clutch C1 is a one-way clutch, and hydraulic pressure is supplied to the second-speed or third-speed hydraulic clutches C2 and C3, which will be described later, to establish the second or third speed, and the rotation of the first connecting shaft 56 When the number is larger than that of the output first gear 74, the output first gear 74 is configured to idle.

  When the counter second-speed gear 70 supported rotatably on the counter shaft 54 is coupled to the counter shaft 54 by the second-speed hydraulic clutch C2, the second speed (gear, gear stage) is established. Further, when the counter third-speed gear 72 supported on the countershaft 54 so as to be relatively rotatable is coupled to the countershaft 54 by the third-speed hydraulic clutch C3, the third speed (gear, gear stage) is established. The hydraulic clutches C2 and C3 connect the gears 70 and 72 to the counter shaft 54 when hydraulic pressure is supplied, and idle the gears 70 and 72 when hydraulic pressure is not supplied.

  Thus, the coupling between the gear and the shaft by the clutches C1, C2, and C3 is performed by controlling the hydraulic pressure supplied from the hydraulic pump 60 to the hydraulic clutches C2 and C3.

  More specifically, when the hydraulic pump 60 is driven by the engine 30, the hydraulic oil in the oil pan 62a is pumped through the oil passage 80a and the strainer 82, and is discharged from the discharge port 60a to the first switching valve 84a through the oil passage 80b. The first and second electromagnetic solenoid valves (linear solenoid valves) 86a and 86b are sent through the oil passages 80c and 80d.

  A second switching valve 84b is connected to the first switching valve 84a via an oil passage 80e. A movable spool is accommodated in each of the first and second switching valves 84a and 84b, and the spool is biased to the other end side by a spring on one end side (left end in the figure). The other end side is connected to the first and second electromagnetic solenoid valves 86a and 86b through oil passages 80f and 80g.

  Accordingly, when the first electromagnetic solenoid valve 86a is energized (turned on), the spool accommodated therein is displaced, and the hydraulic pressure supplied from the hydraulic pump 60 via the oil passage 80c is changed by the first switching valve 84a. Output to the other end of the spool. As a result, the spool of the first switching valve 84a is displaced to one end side, so that the hydraulic oil in the oil passage 80b is sent to the oil passage 80e.

  Similarly to the first electromagnetic solenoid valve 86a, the second electromagnetic solenoid valve 86b has its spool displaced when energized (turned on), and the hydraulic pressure supplied from the hydraulic pump 60 via the oil passage 80d is the second switching valve. It is output to the other end side of 84b. As a result, the spool of the second switching valve 84b is displaced to one end side, so that the hydraulic oil in the oil passage 80e is supplied to the second speed hydraulic clutch C2 via the oil passage 80h. On the other hand, when the second electromagnetic solenoid valve 86b is not energized (turned off) and the hydraulic pressure is not output to the other end of the second switching valve 84b, the hydraulic fluid in the oil passage 80e is hydraulically supplied through the oil passage 80i. It is supplied to the clutch C3.

  That is, when both the first and second electromagnetic solenoid valves 86a and 86b are turned off, no hydraulic pressure is supplied to either of the hydraulic clutches C2 and C3, so that the output first speed gear 74 and the first connecting shaft 56 are 1 The first speed is established by being coupled by the speed clutch C1.

  Further, when both the first and second electromagnetic solenoid valves 86a and 86b are turned on, the hydraulic pressure is supplied to the second speed hydraulic clutch C2, so that the counter second speed gear 70 and the counter shaft 54 are coupled to increase the second speed. Establish. Further, when the first electromagnetic solenoid valve 86a is turned on and the second electromagnetic solenoid valve 86b is turned off, the hydraulic pressure is supplied to the third-speed hydraulic clutch C3, so that the counter third-speed gear 72 and the counter shaft 54 are coupled. The third speed is established. In this way, by controlling on / off of the first and second switching valves 84a and 84b, the gear position of the transmission 48 is selected (shift control is performed).

  The hydraulic oil (lubricating oil) from the hydraulic pump 60 is also supplied to the lubricating parts (for example, the shafts 42, 54, and 56) via the oil passages 80b and 80j, the regulator valve 88, and the relief valve 90. Further, an oil passage 80k for pressure release is appropriately connected to the first and second switching valves 84a and 84b and the first and second electromagnetic solenoid valves 86a and 86b, respectively.

  Returning to the description of FIG. 2, the shift mechanism 52 is connected to the first connection shaft 56 of the speed change mechanism 50, and is arranged in parallel with the vertical axis to be rotatably supported. The forward bevel gear 52b and the reverse bevel gear 52c that are connected to the shaft 52a and rotated, and the clutch 52d that allows the propeller shaft 46 to be engaged with either the forward bevel gear 52b or the reverse bevel gear 52c.

  A shift electric motor (actuator) 92 for driving the shift mechanism 52 is disposed inside the engine cover 32, and its output shaft can be freely connected to the upper end of the shift rod 52 e of the shift mechanism 52 via the reduction gear mechanism 94. Is done. Accordingly, by driving the shift electric motor 92, the shift rod 52e and the shift slider 52f are appropriately displaced, thereby operating the clutch 52d to switch the shift position between the forward position, the reverse position and the neutral position. It is done.

  When the shift position is the forward movement position or the reverse movement position, the rotation of the shaft 56 of the speed change mechanism 50 is transmitted to the propeller shaft 46 via the shift mechanism 52, so that the propeller 44 is rotated and the hull 12 is moved forward or backward. Produces thrust (propulsive force). The outboard motor 10 includes a power source (not shown) such as a battery attached to the engine 30, and then operating power is supplied to the electric motors 22, 40, 92 and the like.

  As shown in FIG. 3, a throttle opening sensor (throttle opening change amount detecting means) 96 is disposed in the vicinity of the throttle valve 38, and generates an output indicating the opening (throttle opening) TH of the throttle valve 38. A crank angle sensor (engine speed detection means) 100 is attached in the vicinity of the crankshaft of the engine 30 and outputs a pulse signal at every predetermined crank angle. Further, a trim angle sensor 101 is disposed in the vicinity of the tilting shaft 16 and generates an output corresponding to the trim angle θ of the outboard motor 10.

  The output of each sensor described above is input to an electronic control unit (hereinafter referred to as “ECU”) 102 mounted on the outboard motor 10. The ECU 102 includes a microcomputer including a CPU, ROM, RAM, and the like, and is disposed inside the engine cover 32 of the outboard motor 10.

  As shown in FIG. 1, a steering wheel 112 that can be freely rotated by a marine vessel operator (not shown) is disposed near the cockpit 110 of the hull 12. A steering angle sensor 114 is attached to a shaft (not shown) of the steering wheel 112 and outputs a signal corresponding to the steering angle of the steering wheel 112 input by the operator.

  A remote control box 116 is arranged in the vicinity of the cockpit 110, and a throttle lever (shift / throttle lever) 120 that can be operated by the operator is provided there. The lever 120 is attached to a rotary shaft (not shown) rotatably supported in the remote control box 116, so that the lever 120 can be swung back and forth from the initial position, and a shift change instruction is issued from the operator. (Forward / reverse / neutral switching instruction) and an engine speed adjustment instruction including an acceleration / deceleration instruction for the engine 30 are input.

  A lever position sensor 122 is disposed inside the remote control box 116, and the operation position of the throttle lever 120 by the operator (operation angle; hereinafter referred to as “operation amount”) LVR, more precisely, the rotation angle of the rotation shaft of the lever 120. Output a signal according to. The lever position sensor 122 is a rotation angle sensor such as a potentiometer.

  Furthermore, a GPS receiver (receiver) 124 that receives a GPS (Global Positioning System) signal is disposed at an appropriate position of the hull 12. The GPS receiver 124 outputs a signal indicating the position information of the ship 1 obtained from the GPS signal. The outputs of these sensors 114 and 122 and the GPS receiver 124 are also input to the ECU 102.

  The ECU 102, each sensor, and the GPS receiver 124 are, for example, a communication system (for example, NMEA2000, specifically CAN (Controller Area Network)) standardized by NMEA (National Marine Electronics Association). It is connected so that it can communicate freely.

  The ECU 102 controls the operation of the electric motors 22 and 92 based on the input sensor output and the like to steer or shift change the outboard motor 10, and performs the shift control of the transmission 48 and the trim unit 24 for trimming. Perform trim angle control to adjust the angle θ. The ECU 102 also controls the operation of the throttle electric motor 40 based on the output of the lever position sensor 122, and performs throttle opening control for adjusting the throttle opening TH by opening and closing the throttle valve 38.

  Further, the ECU 102 determines the fuel injection amount and ignition timing of the engine 30 based on the input sensor output, supplies the determined injection amount of fuel via the injector 130 (shown in FIG. 3), and performs ignition. The fuel / intake fuel mixture injected is ignited according to the ignition timing determined via the device 132 (shown in FIG. 3).

  Thus, the outboard motor control apparatus according to this embodiment is a DBW (Drive By Wire) system in which the operation system (the steering wheel 112 and the throttle lever 120) and the outboard motor 10 are disconnected mechanically. Device.

  FIG. 5 is a flowchart showing the shift control operation, trim angle control operation, throttle opening control operation, and ignition timing control operation of the ECU 102. The illustrated program is executed by the ECU 102 every predetermined cycle (for example, 100 msec).

  Explaining below, first, in S (step) 10, a gear position determination process for determining which gear position from the first speed to the third speed of the transmission 48 should be selected is performed.

  FIG. 6 is a sub-routine flowchart showing the shift speed determination process. As shown in the figure, in S100, the throttle opening TH is detected (calculated) from the output of the throttle opening sensor 96, and the process proceeds to S102, where the amount of change per predetermined time (for example, 500 msec) detected. (Fluctuation amount) DTH is detected (calculated).

  Next, in S104, it is determined whether or not deceleration is instructed by the operator to the engine 30, in other words, whether or not the engine 30 is in an operating state in which the ship 1 is decelerated. Specifically, when the change amount DTH of the throttle opening TH is less than a first predetermined value DTH1 (for example, −0.5 deg) set to a negative value, the throttle valve 38 is driven in the valve closing direction. That is, it is determined that deceleration is instructed to the engine 30.

  When the result in S104 is negative, the program proceeds to S106, where the output pulse of the crank angle sensor 100 is counted to detect (calculate) the engine speed NE, and the program proceeds to S108, where a post-acceleration second speed shift completed flag (hereinafter referred to as “second speed shift”). It is determined whether the bit of “flag” is 0 or not. As will be described later, this flag bit is set to 1 when shifting from 1st to 2nd after the end of acceleration, and is reset to 0 otherwise.

  Since the initial value of the second speed shift flag is 0, the determination in S108 is generally affirmed in the first program loop, and the process proceeds to S110 to determine whether the engine speed NE is equal to or higher than the first predetermined speed NE1. The predetermined rotational speed NE1 will be described later.

  Usually, in the program loop immediately after the engine is started, the engine speed NE is less than the first predetermined speed NE1, so the determination in S110 is negative and the process proceeds to S112. In S112, it is determined whether or not the bit of the acceleration determination flag (described later, “acceleration flag” in the figure) is 0. Since the initial value of the determination flag during acceleration is also set to 0, the determination here is affirmed in the first program loop, and the process proceeds to S114.

  In S114, whether or not acceleration (accurately, rapid acceleration) is instructed to the engine 30 by the operator, in other words, whether the engine 30 is in an operation state of accelerating the vessel 1 (accurately, rapid acceleration). Judge whether or not. Specifically, this determination is performed by determining whether or not the throttle valve 38 is rapidly driven in the valve opening direction.

  Specifically, the change amount DTH of the throttle opening detected in S102 is compared with a second predetermined value (default value) DTH2, and when the change amount DTH is equal to or larger than the second predetermined value DTH2, the throttle valve 38 is opened. It is determined that the valve is rapidly driven, that is, acceleration is instructed. Accordingly, the second predetermined value DTH2 is a value (positive value) that is larger than the first predetermined value DTH1, and is set to a value that can determine that an instruction for acceleration has been given, for example, 0.5 deg.

  If NO in S114, that is, if there is no instruction to accelerate or decelerate the engine 30, the process proceeds to S116, and the first and second electromagnetic solenoid valves 86a and 86b (shown as "first SOL" and "second SOL" in the figure) are displayed. Both are turned on and the second speed is selected in the transmission 48, and then the process proceeds to S118, and the bit of the acceleration determination flag is reset to zero.

On the other hand, when the result in S114 is affirmative, the routine proceeds to S120, where a slip ratio (slip ratio) ε indicating the rotation state of the propeller 44 is detected (calculated), and the routine proceeds to S122, where the slip ratio ε per predetermined time (for example, 500 msec). A change amount (variation amount) Dε is detected (calculated). The slip ratio ε is detected based on the theoretical speed Va and the navigation speed (actual speed) V of the ship 1, and specifically calculated using the following equation (1).
Slip rate ε = (theoretical speed Va (Km / h) −navigation speed V (Km / h)) / theoretical speed Va (Km / h) (1)

In equation (1), the navigation speed V is calculated from the output (position information) of the GPS receiver 124. The theoretical speed Va is calculated based on the operating state of the engine 30 and the transmission 48 and the specifications of the propeller 44 as shown in the following equation (2).
Theoretical speed Va (Km / h) = (engine speed NE (rpm) × propeller pitch (inch) × 60 × 2.54 × 10 ⁻⁵ ) / (speed ratio of gear stage) (2)

In equation (2), the propeller pitch is a value indicating a theoretical distance that can be advanced when the propeller 44 makes one rotation, and the gear ratio of the gear stage is the gear ratio of the gear stage currently selected in the transmission 48. For example, the gear ratio at the second speed is 1.9 as described above. The numerical value of 60 is for converting the engine speed NE per minute into a value per hour, and the numerical value of 2.54 × 10 ⁻⁵ is for converting the propeller pitch from inches to kilometers. Is.

  Next, in S124, the throttle opening TH of the engine 30 is controlled so as to suppress the increase in the slip ratio ε of the propeller 44. That is, when the engine 30 is instructed to accelerate, the propeller 44 is likely to be idled by entraining bubbles generated in the vicinity due to the increase in the rotational speed, and the slip ratio ε increases and the grip force becomes relatively weak. Sometimes. Therefore, in S124, the throttle opening TH is appropriately corrected to prevent the slip ratio ε from increasing.

  FIG. 7 is an explanatory graph showing the characteristic of the throttle opening TH with respect to the operation amount (operation position) LVR of the throttle lever 120. In FIG. 7, the characteristic before correcting the throttle opening TH is indicated by a broken line, and the characteristic after correction is indicated by a solid line.

  As shown in the figure, in the process of S124, the operation of the electric motor 40 for throttle is controlled so as to decrease the change speed of the throttle opening TH with respect to the operation amount LVR of the lever 120 (decrease the increase in the throttle opening TH). I tried to do it. Thereby, when an acceleration instruction is input to the engine 30, specifically, when the operation amount LVR of the lever 120 increases, the throttle valve 38 is opened more slowly than before the correction. The engine speed NE is not likely to increase rapidly. In other words, the rotation speed of the propeller 44 is not easily increased rapidly. As a result, the generation of bubbles near the propeller 44 can be suppressed and the slip rate ε can be prevented from increasing, so that the propeller rotation speed can be increased while maintaining the gripping force of the propeller 44.

  Next, in S126, it is determined whether or not the slip rate ε is equal to or less than the first predetermined slip rate ε1 and the slip rate change amount Dε is equal to or less than the predetermined slip rate change amount Dε1. The predetermined slip ratio ε1 is set to a relatively low value, for example, 0.3 so that it can be determined that the grip force is relatively strong when the slip ratio ε is less than that. Further, the predetermined slip ratio change amount Dε1 is specifically set to 0. Therefore, the subsequent stage determines whether the change amount Dε is 0 or a negative value. In other words, S126 is a process for determining whether or not the slip ratio ε decreases in the propeller 44 and the grip force is relatively strong.

  When the result in S126 is affirmative, the program proceeds to S128, in which both the first and second electromagnetic solenoid valves 86a and 86b are turned off to shift (shift down) the gear position of the transmission 48 from the second speed to the first speed. As a result, the output torque of the engine 30 is amplified and transmitted to the propeller 44 by the transmission 48 (precisely, the speed change mechanism 50) shifted down to the first speed, thereby increasing the acceleration performance. When shifting to the first speed in S128, the control for correcting the throttle opening TH of the engine 30 is terminated, and the normal control, specifically, the throttle opening based on the characteristic indicated by the broken line in FIG. Control TH.

  Next, in S130, the bit of the acceleration determination flag is set to 1. That is, this flag is set to 1 when it is determined that acceleration has been instructed to the engine 30 and then the gear position is shifted from the 2nd speed to the 1st speed, and is reset to 0 otherwise. . When the bit of this flag is set to 1, the next and subsequent program executions are denied in S112 and the processing from S114 to S126 is skipped.

  In this way, acceleration is instructed after the engine 30 is started, and the transmission 48 is set to the second speed during normal operation until the slip ratio ε satisfies the above-described conditions. The ease of use of the outboard motor 10 can be equivalent to that of the outboard motor that does not include a transmission.

  Next, in S132, the bit of the trim-up permission flag (initial value 0) is set to 1, and the program ends. That is, when the bit of the trim-up permission flag is set to 1, the change amount DTH of the throttle opening is greater than or equal to the second predetermined value DTH2, and the gear position of the transmission 48 is shifted to the first speed, and the engine is changed as described later. It is not necessary to perform trim-up, for example, resetting to 0 that the execution of trim-up performed in accordance with the rotational speed NE or the navigation acceleration a is permitted is reset to 0. Means that.

  On the other hand, when the result in S126 is negative, the program proceeds to S134, in which it is determined whether or not the slip ratio ε is equal to or higher than a second predetermined slip ratio ε2 set higher than the first predetermined slip ratio ε1. The second predetermined slip ratio ε2 is set to a value that can determine that the gripping force of the propeller 44 is relatively weak when the slip ratio ε is more than that, for example, 0.5. That is, S134 is a process for determining whether or not the slip ratio ε has increased and the gripping force of the propeller 44 has become weak despite the correction of the throttle opening TH in S124.

  When the result in S134 is affirmative, the program proceeds to S136, in which the bit of the ignition timing retard flag (initial value 0, indicated as “retard flag” in the figure) is set to 1. When the bit of this flag is set to 1, control is performed to retard the ignition timing of the engine 30 in a program (not shown). Specifically, the ignition timing calculated based on the engine speed NE or the like is predetermined. Is retarded by an amount of retardation (for example, 5 degrees), and the output of the engine 30 is reduced.

  When the output of the engine 30 is reduced, the grip force of the propeller 44 thereafter increases instantaneously, the slip rate ε decreases, and becomes less than the second predetermined slip rate ε2. In this case, the result of S134 is negative and the program proceeds to S138, where the bit of the ignition timing retard flag is reset to 0, the aforementioned retard control is stopped, and normal ignition timing control is executed.

  In S136, the output of the engine 30 may be decreased via the fuel injection amount of the engine 30 instead of the ignition timing. In other words, the engine 30 is controlled to reduce the fuel injection amount supplied, specifically, by reducing (decreasing) the fuel injection amount calculated based on the engine speed NE or the like by a predetermined amount. The output may be reduced. In the case of such a configuration, S138 is a process of canceling the fuel injection amount reduction control described above or executing normal fuel injection control without performing the reduction control.

  After the transmission 48 is shifted to the first speed in S128, the engine speed NE gradually increases, and when the acceleration using the torque amplification at the first speed comes to an end (when the acceleration region approaches saturation), the engine The rotational speed NE reaches the first predetermined rotational speed NE1, so that the determination in S110 is affirmed and the process proceeds to S140 and subsequent steps. Accordingly, the first predetermined rotation speed NE1 is set to a relatively high value, and specifically, a value (for example, 5000 rpm) at which it can be determined that the acceleration at the first speed is close to the end.

In S140, based on the output of the GPS receiver 124, the navigation acceleration a (m / s ² ) indicating the amount of change of the navigation speed V per predetermined time (unit time) (in other words, the rate of change of the navigation speed V with respect to time). ) Is detected. Specifically, the navigation speed V is detected based on the output of the GPS receiver 124, and the navigation acceleration a is detected by differentiating the detected navigation speed V (dV / dt).

Next, in S142, it is determined whether or not the acceleration using the torque amplification at the first speed is finished. Specifically, the navigation acceleration a detected in S140 is compared with the first predetermined value a1, and when the navigation acceleration a is equal to or less than the predetermined value a1, it is determined that the acceleration has ended. Accordingly, the first predetermined value a1 is set to such a value that it can be determined that acceleration has ended, for example, 5 m / s ² .

  When the result in S142 is negative, the program is terminated with the first speed, whereas when the result is affirmative, the process proceeds to S144, and the slip ratio ε of the propeller 44 is detected using the equations (1) and (2) as in S120 ( calculate.

  Next, in S146, it is determined whether or not the slip ratio ε detected in S144 is equal to or less than a third predetermined slip ratio (predetermined slip ratio) ε3. The predetermined slip ratio ε3 is set to a relatively low value, for example, 0.3 so that it can be determined that the grip force is relatively strong when the slip ratio ε is less than that. Therefore, S146 is a process for determining whether or not the gripping force of the propeller 44 is relatively strong.

  When the result in S146 is negative, the program is terminated while maintaining the first speed. When the result is affirmative, the program proceeds to S148, where both the first and second electromagnetic solenoid valves 86a and 86b are turned on to set the gear position of the transmission 48 to 1. The speed is changed (shifted up) from the second speed to the second speed, and the process proceeds to S150 where the bit of the second speed shift flag is set to 1. As a result, the rotational speeds of the first and second connecting shafts 56 and 52a and the propeller shaft 46 are increased to improve the acceleration performance, and the navigation speed V then reaches the maximum speed (in terms of engine performance) to increase the speed. Also improves.

  If the bit of the 2nd speed shift flag is set to 1 in S150, the next program execution will be denied in S108 and proceed to S148 and S150 described above. When the result in S104 is affirmative, the program proceeds to S152, in which both the first and second electromagnetic solenoid valves 86a, 86b are turned on to shift the speed of the transmission 48 to the second speed. Thereafter, the process proceeds to S154 and S156, and the bits of the second speed shift flag and the acceleration determining flag are both reset to zero.

  Next, in S158, the bit of the trim-up permission flag is reset to 0, and in S160, the bit of the trim-down permission flag (initial value 0) is set to 1. That is, when the bit of the trim down permission flag is set to 1, the fact that the amount of change DTH of the throttle opening DTH is less than the first predetermined value DTH1 and the execution of trim down described later is permitted to 0. Being reset means that there is no need for trim down.

  Returning to the description of the flow chart of FIG. 5, next, the process proceeds to S <b> 12, and a determination process is performed as to whether or not to perform trim-up of the outboard motor 10.

  FIG. 8 is a sub-routine flow chart showing the trim-up execution determination process. As shown in FIG. 8, first, in S200, it is determined whether or not the bit of the trim-up permission flag is 1. When the result in S200 is negative, there is no need for trim-up, so the process proceeds to S202, where the trim-up is stopped, and the trim-up is not performed accurately.

  On the other hand, when the result in S200 is affirmative, specifically, when the amount of change DTH in the throttle opening is greater than or equal to the second predetermined value DTH2 and the shift stage of the transmission 48 is shifting to the first speed, S204. Then, it is determined whether the trim angle θ is less than a predetermined angle (for example, 10 °).

  When the process of S204 is performed for the first time, since the trim angle θ is the initial angle (0 °), it is generally affirmed and the process proceeds to S206. In S206, it is determined whether trimming up of the outboard motor 10 by the trim unit 24 is being executed. When the process proceeds to S206 for the first time, the determination is usually denied and the process proceeds to S208, and it is determined whether or not the engine speed NE is equal to or higher than a second predetermined speed (predetermined speed) NE2. The second predetermined rotation speed NE2 is set to a relatively high value, similarly to the first predetermined rotation speed NE1, and more specifically, is set to a value (for example, 5000 rpm) at which it can be determined that the acceleration at the first speed is nearing the end.

  When the result in S208 is affirmative, the program proceeds to S210 and subsequent S212, and it is determined whether or not the acceleration using the torque amplification at the first speed is nearing the end based on the navigation acceleration a. Specifically, in S210, it is determined whether or not the navigation acceleration a detected during navigation changes in a decreasing direction, in other words, the slope of the navigation acceleration a detected during navigation (that is, navigation with respect to time). The amount of change in acceleration a) is determined, and it is determined whether the slope is negative.

When the result in S210 is affirmative, the program proceeds to S212, where the navigation acceleration a is compared with a second predetermined value (predetermined value) a2, and when the navigation acceleration a is equal to or less than the predetermined value a2, it is determined that the acceleration is nearing the end. Therefore, the second predetermined value a2 is set to a value larger than the first predetermined value a1 that is the threshold value when shifting to the first speed described above, and a value that can determine that the acceleration is nearing the end. For example, it is set to 10 m / s ² .

  As described above, in S208 to S212, it is determined based on the engine speed NE, the navigation acceleration a, and the inclination that the acceleration using the torque amplification at the first speed is nearing the end. .

  When the result in S208, S210, or S212 is negative, it is not the timing to start trim-up. Therefore, the program proceeds to S202 and the program is terminated without executing trim-up, whereas when the result in S212 is affirmative, the process proceeds to S214. Then, the trim unit 24 is operated to perform the trim-up, more precisely, the trim-up is started. Thus, as the acceleration approaches the end, the boat speed increases by starting trim-up before returning the gear position from the first speed to the second speed.

  When trimming up is started in S214, the determination in S206 is affirmed in the next and subsequent program loops, and the processing in S208 to S212 is skipped. Then, after the trim-up is started, when the trim angle θ reaches a predetermined angle, the result in S204 is negative and the process proceeds to S202, where the trim-up is stopped.

  Returning to the description of the flow chart of FIG. 5, the process then proceeds to S14, where the trim down of the outboard motor 10 is executed to determine whether or not the trim angle θ should be initialized (initialized).

  FIG. 9 is a sub-routine flow chart showing the initial trim down execution determination process. As shown in FIG. 9, it is determined in S300 whether the bit of the trim down permission flag is 1. When the result in S300 is negative, the subsequent processing is skipped, while when the result is affirmative, in other words, when the change amount DTH of the throttle opening is less than the first predetermined value DTH1, the process proceeds to S302, where the trim angle θ Is an initial angle (specifically, 0 °).

  When the result in S302 is NO, the program proceeds to S304, where the trim unit 24 is operated to start trim down. After that, when the trim angle θ becomes the initial angle (returns), the result is affirmative in S302 and the process proceeds to S306, the bit of the trim down permission flag is reset to 0, the process proceeds to S308, the trim down is stopped, and the program is executed. finish.

  FIG. 10 is a time chart for explaining a part of the above processing, and FIG. 11 is an explanatory diagram thereof. In FIG. 11, symbol y indicates the front-rear direction of the outboard motor 10, symbol z indicates the vertical direction, symbol W indicates seawater or fresh water, and symbol S indicates the water surface. The front-rear direction y and the up-down direction z mean front-rear and up-down directions in the outboard motor 10, and depending on the tilt angle and trim angle of the outboard motor 10, they do not necessarily match the gravitational direction or the horizontal direction.

  As shown in FIG. 10, first, during normal operation from time t0 to t1, the transmission 48 is set to the second speed (S116), and then the throttle valve 38 is opened by the operator's operation of the throttle lever 120. When the change amount DTH of the throttle opening is equal to or greater than the second predetermined value DTH2 at time t1, it is determined that acceleration is instructed to the engine 30 (S114). Immediately after the acceleration, the propeller 44 entrains bubbles generated in the vicinity and the slip ratio ε increases, so at time t1, control for correcting the throttle opening TH of the engine 30 is started so as to suppress the increase (S124). .

  Thereafter, when the slip rate ε gradually decreases to become equal to or less than the first predetermined slip rate ε1 at time t2, and when the slip rate change amount Dε becomes equal to or less than the predetermined slip rate change amount Dε1, the transmission 48 is set to 2 The speed is changed from the first speed to the first speed (S126, S128). At this time, the bit of the trim-up permission flag is set to 1 (S132), and the correction control of the throttle opening TH is ended.

  In FIG. 11, from time t0 to t1, as shown in FIG. 11A, both the hull 12 and the outboard motor 10 are in the horizontal state, and the trim angle θ is the initial angle (0 °). When an acceleration instruction is given at time t1 and the gear stage is set to the first speed at time t2 and the navigation speed V is increased, the hull 12 is lifted while the bow 12b is raised while the stern 12a is depressed, as shown in FIG. It becomes a so-called hump state. As can be seen from the figure, the direction of the axis 46 a of the propeller shaft 46 at this time is not parallel to the traveling direction of the ship 1.

  After that, the acceleration continues and the engine speed NE gradually increases. At time t3, the navigation acceleration a becomes equal to or less than the second predetermined value a1, and the navigation acceleration a decreases. When it is determined that the direction has changed, the trim unit 24 is operated to start trimming up (S208 to S214). When the trim angle θ reaches a predetermined angle (time t4), trim-up is stopped (S202, S204).

  FIG. 11C shows a state where the trim-up is stopped. As can be seen from the figure, by adjusting the trim angle θ by trimming up the outboard motor 10, the direction of the axis 46 a of the propeller shaft 46 (in other words, the direction of thrust of the outboard motor 10) is the ship 1. It is possible to increase the thrust of the hull 12 and thus increase the speed of the ship 1 while reducing the resistance of the hull 12 received from the water surface S.

  From time t3 to t4, the engine speed NE is controlled by DBW control so as to be the speed before the overrev (for example, 6200 rpm).

  Thereafter, at time t5, when it is determined that the engine speed NE is equal to or higher than the first predetermined speed NE1, the navigation acceleration a is equal to or lower than the predetermined value a1, and the slip ratio ε is equal to or lower than the third predetermined slip ratio ε3. The speed is changed from the first speed to the second speed (S110, S142, S146, S148).

  It should be noted that between time t1 and time t2, as indicated by an imaginary line, the slip rate ε is set to the second value at time ta, although the throttle opening TH is controlled so as to suppress the increase in the slip rate ε. When it is determined that the predetermined slip ratio ε2 or more, the bit of the ignition timing retard flag is set to 1 to reduce the output of the engine 30 (S134, S136).

  By reducing the output of the engine 30, the grip force increases, in other words, the slip rate ε decreases, and when it is determined at time tb that it is less than the second predetermined slip rate ε2, the bit of the ignition timing retard flag Is reset to 0 to stop the decrease in the output of the engine 30 (S134, S138).

As described above, in the embodiment of the present invention, it is inserted into the power transmission shaft (drive shaft 42, propeller shaft 46) for transmitting the power from the internal combustion engine (engine) 30 to the propeller 44, and at least the first speed. And a transmission 48 having a second speed having a smaller speed ratio than the first speed, and shifting the output of the internal combustion engine at a selected speed among the speeds and transmitting the output to the propeller; And a trim angle adjusting mechanism (power tilt trim unit) 24 capable of adjusting the trim angle θ with respect to the hull 12 by trimming up / down. When selected, acceleration instruction determination means (ECU 102. S10, S11) for determining whether or not acceleration is instructed to the internal combustion engine 30 by the operator. ), Engine speed detecting means (crank angle sensor 100, ECU 102, S10, S106) for detecting the engine speed (engine speed) NE of the internal combustion engine 30, and a change amount of the navigation speed V per predetermined time. Navigation acceleration detecting means (ECU102, S10, S140) for detecting the indicated navigation acceleration a, and navigation acceleration decrease change determining means (ECU102) for determining whether or not the detected navigation acceleration a changes in the decreasing direction during navigation. S12, S210) and, when it is determined that the acceleration is instructed, a first speed transmission means (ECU 102. S10, S114, S128) that operates the transmission 48 to shift from the second speed to the first speed. After the first-speed transmission means shifts to the first speed, the detected engine rotational speed NE is a predetermined rotational speed (second predetermined rotational speed) N. When it is determined that the detected navigation acceleration a is equal to or less than E2 and is equal to or less than a predetermined value (second predetermined value) a2, and the navigation acceleration a is changing in a decreasing direction, the trim angle adjusting mechanism 24 is configured to include trim-up starting means (ECU 102; S12, S208 to S214) for starting the trim-up operation.

  Thereby, regardless of the specifications of the hull 12, trim-up is started at an appropriate timing according to the navigation state (specifically, when acceleration using torque amplification at the first speed is approaching to end). Therefore, even if the torque transmitted from the first speed to the second speed after the acceleration is finished and the torque transmitted to the propeller 44 is reduced, the speed of the ship 1 is increased by trimming up. It is difficult to give the operator a feeling of deceleration, in other words, the feeling of deceleration can be reduced. In addition, with the above-described configuration, trimming can be started at an appropriate timing, so that occurrence of pitching due to trimming can be prevented.

  Further, after the trim up is started by the trim up start means, trim up stop means (ECU 102; S12, S202, S204) for stopping the trim up when the trim angle θ reaches a predetermined angle. Since the trim is not excessively performed and can be stopped at an appropriate timing, it is possible to more effectively prevent problems such as pitching in the hull 12 from occurring.

  In addition, the navigation device includes a receiving device (GPS receiving device) 124 that receives a GPS signal, and the navigation acceleration detecting means is configured to detect the navigation acceleration a based on the output of the receiving device 124 (S10, S140). ) The navigation acceleration a can be accurately detected with a simple configuration.

  Further, the navigation acceleration detecting means is configured to detect the navigation acceleration a by detecting the navigation speed V based on the output of the receiving device 124 and differentiating the detected navigation speed V. (S10, S140), the navigation acceleration a can be detected more accurately.

  In addition, a throttle opening change amount detecting means (throttle opening sensor 96, ECU 102, S10, S102) for detecting a change amount DTH of the throttle opening TH of the internal combustion engine is provided, and the acceleration instruction determining means is the detection. When the throttle opening change amount DTH is equal to or greater than a predetermined value (second predetermined value) DTH2, it is determined that the acceleration is instructed (S10, S114). Can be accurately determined.

  In the above description, the outboard motor has been described as an example. However, the present invention can also be applied to an outboard motor equipped with a transmission. In S136, in order to reduce the output of the engine 30, the ignition timing is retarded or the fuel injection amount is reduced. However, both of them may be configured. You may comprise so that the output of the engine 30 may be reduced by performing a cut.

  The first and second predetermined values a1 and a2, the first and second predetermined rotational speeds NE1 and NE2, the first and second predetermined values DTH1 and DTH2, the first to third predetermined slip ratios ε1, and Although ε2, ε3, the predetermined slip ratio change amount Dε1, the exhaust amount of the engine 30 and the like are shown as specific values, these are examples and are not limited.

  10 outboard motor, 12 hull, 24 power tilt trim unit (trim angle adjusting mechanism), 30 engine (internal combustion engine), 42 drive shaft (power transmission shaft), 44 propeller, 46 propeller shaft (power transmission shaft), 48 speed change 96, throttle opening sensor (throttle opening change amount detecting means), 100 crank angle sensor (engine speed detecting means), 102 ECU (electronic control unit), 124 GPS receiver (receiver)

Claims (5)

The power transmission shaft is inserted into a power transmission shaft for transmitting power from the internal combustion engine to a propeller, and has at least a first speed and a second speed stage having a smaller speed ratio than the first speed, and the output of the internal combustion engine is changed to the speed change. A ship capable of being attached to the hull, comprising: a transmission that changes speed at a selected gear stage and transmits the transmission to the propeller; and a trim angle adjustment mechanism that can adjust a trim angle relative to the hull by trimming up / down. In the control device of the external unit,
a. An acceleration instruction determination means for determining whether or not acceleration is instructed by a vessel operator to the internal combustion engine when the second speed is selected;
b. Engine speed detecting means for detecting the engine speed of the internal combustion engine;
c. Navigation acceleration detecting means for detecting navigation acceleration indicating an amount of change in navigation speed per predetermined time;
d. Navigation acceleration decrease change determining means for determining whether or not the detected navigation acceleration is changing in a decreasing direction during navigation;
e. A first speed transmission means for operating the transmission to shift from the second speed to the first speed when it is determined that the acceleration is instructed;
f. After shifting to the first speed by the first speed transmission means, the detected engine speed is equal to or higher than a predetermined speed, the detected navigation acceleration is equal to or lower than a predetermined value, and the navigation acceleration is decreased. Trim-up starting means for operating the trim angle adjusting mechanism to start the trim-up when it is determined that it has changed;
An outboard motor control device comprising: g. Trim-up stop means for stopping the trim-up when the trim angle reaches a predetermined angle after the trim-up is started by the trim-up start means;
The outboard motor control device according to claim 1, further comprising: h. A receiving device for receiving GPS signals;
3. The outboard motor control device according to claim 1, wherein the navigation acceleration detecting unit detects the navigation acceleration based on an output of the receiving device.   The navigation acceleration detecting means detects the navigation acceleration by detecting the navigation speed based on an output of the receiving device and differentiating the detected navigation speed. Outboard motor control device. i. A throttle opening change amount detecting means for detecting a change amount of the throttle opening of the internal combustion engine;
The acceleration instruction determining means determines that the acceleration is instructed when the detected amount of change in the throttle opening is equal to or greater than a predetermined value. The outboard motor control device described.

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