JPS58209697A - Turning angle controller of turn thruster - Google Patents
Turning angle controller of turn thrusterInfo
- Publication number
- JPS58209697A JPS58209697A JP9349882A JP9349882A JPS58209697A JP S58209697 A JPS58209697 A JP S58209697A JP 9349882 A JP9349882 A JP 9349882A JP 9349882 A JP9349882 A JP 9349882A JP S58209697 A JPS58209697 A JP S58209697A
- Authority
- JP
- Japan
- Prior art keywords
- turning
- signal
- turn
- thruster
- turning angle
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
- B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
Abstract
Description
【発明の詳細な説明】
この発明は、たとえばタグボートの推進用に用いられて
、固定軸のまわりに自由に回転する機構を有する旋回式
スラスタの旋回角制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a swing angle control device for a swing thruster, which is used for propulsion of a tugboat, for example, and has a mechanism for freely rotating around a fixed axis.
従来の旋回式スラスタの旋回角制御においては、角度偏
差に応じて旋回用アクチュエータへの操作信号を連続的
に変化させる連続制御を採用するのが通例であるが、連
続制御では旋回用アクチュエータの操作機構および旋回
角制御液＠に複雑なものが心安となるため、取扱いに注
意全姿するという欠点があった。In conventional swing angle control of swing thrusters, it is common to adopt continuous control in which the operation signal to the swing actuator is continuously changed according to the angular deviation. Since the mechanism and turning angle control fluid are complicated, they have to be handled with care.
このような連続制御のもつ欠点を解消すべく、デジタル
的な０Ｎ−ＯＦＦ信号により駆動されるｍ磁弁等により
旋回用アクチュエータを操作するという簡単な操作機構
をもつ旋回式スラスタが開発されたが、旋回角制御装置
についても０Ｎ−ＯＦ Ｆ ｆｂｌＪ御を目的とした簡
素なものが望まれていた。In order to overcome these drawbacks of continuous control, a swing type thruster was developed that has a simple operation mechanism in which the swing actuator is operated by an m-magnetic valve driven by a digital ON-OFF signal. As for the turning angle control device, a simple one aimed at controlling ON-OF fblJ was also desired.
この発明は上記要望にもとづき、０Ｎ−ＯＦＦ信号によ
り旋回角制御を行う、構造が簡単で取扱いの容易な旋回
角制御装置を得ることを目的とするものである。The present invention is based on the above-mentioned needs, and an object of the present invention is to provide a turning angle control device that performs turning angle control using an ON-OFF signal and is simple in structure and easy to handle.
ところで、０Ｎ−ＯＦＦ制御による旋回角制御装置にお
いては、旋回式スラスタに対して右旋回、左旋回および
停止のいずれかを指令するだけでよいのであるが、旋回
式スラスタは右旋回、左旋回のいずれを指令しても設定
した旋回角に到達し得るため・状況に応じて旋回方向を
選択せねばならない。By the way, in a turning angle control device using 0N-OFF control, it is only necessary to command the turning thruster to turn right, turn left, or stop; however, the turning thruster can only turn right or turn left. Since the set turning angle can be reached no matter which direction is commanded, the turning direction must be selected depending on the situation.
この発明は、１８０″以内で設定した旋回角に到達でき
る方向に回転方向を選択することにより、短時間で設定
した旋回角に到達し得ることを特長とするものである。This invention is characterized in that the set turning angle can be reached in a short time by selecting the rotation direction in a direction that allows the set turning angle to be reached within 180''.
以下、図示の実施例にもとづいてこの発明の内容を詳細
に説明する。なお、以下の実施例においては右旋回を旋
回角の増加方向とする。Hereinafter, the content of the present invention will be explained in detail based on the illustrated embodiments. Note that in the following embodiments, a right turn is assumed to be a direction in which the turning angle increases.
第１図において一船舶１の船体後部に装置された推進用
の旋回式スラスタ２は、垂直軸６のまわりに旋回可能に
設定されており、この回転により操舵を行なうようにな
っている。In FIG. 1, a rotating thruster 2 for propulsion installed at the rear of a ship 1 is configured to be able to turn around a vertical axis 6, and steering is performed by this rotation.
第２図は上記旋回式スラスタ２の旋回角度を設定値に合
致させるための旋回角制御装置を示し、５は旋回角設定
器、６は旋回式スラスタ２の旋回角を検出して、この旋
回角を示す信号を発する旋回角検出器Ｃある。７は減算
器であり°、旋回角設定器５が出力する旋回角設定信号
θ８と、旋回角検出器６から出力された実旋回角信号θ
、との差θ８−θ、に相当するＯａ〜３６０″の範囲の
角度を、角度偏差Δθとして演算し、角度偏差Δθを６
６０６をｎビットで表現した２進コードのｎ桁のディジ
タル信号（１１・・・ｉｎ）として出力する。ここで１
１〜ｉｎは０または１のいずれかであシ、（）は２進数
としての表現であることを示す。FIG. 2 shows a turning angle control device for making the turning angle of the turning thruster 2 match a set value, 5 is a turning angle setting device, 6 is a turning angle setting device for detecting the turning angle of the turning thruster 2, and the turning angle is adjusted to a set value. There is a turning angle detector C which emits a signal indicating the angle. 7 is a subtractor which separates the turning angle setting signal θ8 outputted from the turning angle setting device 5 and the actual turning angle signal θ outputted from the turning angle detector 6.
, the angle in the range Oa ~ 360'' corresponding to the difference θ8 - θ, is calculated as the angular deviation Δθ, and the angular deviation Δθ is 6
606 is output as an n-digit digital signal (11...in) of a binary code expressed in n bits. Here 1
1 to in is either 0 or 1, and () indicates that it is expressed as a binary number.
上記ディジタル信号（１１・・・ｉｎ）の値は、２ に
相当するから−（１ビ・・ｉｎ）の値に対応する角度は
、
である。Since the value of the digital signal (11...in) corresponds to 2, the angle corresponding to the value -(1bi...in) is as follows.
したがって、ディジタル信号が（１ビ・・ｉｎ）である
というのは、角度偏差Δθが
の範囲にあることを意味する。Therefore, when the digital signal is (1 bi...in), it means that the angular deviation Δθ is within the range of .
６０は（ｎ−１）ケの排他的論理和ゲート６２゜６６〜
６ｎから構成される絶対値演算器であり、角度偏差のデ
ィジタル信号（１１・・・ｉｎ）の最上位ビット１曹と
、他の各ビット１．〜１ユとＧこつぃておのおへ △
のの排他的論理和を演算し、１２〜ｉｎ の各信′ｊ：
ｊを出力する。60 is (n-1) exclusive OR gates 62°66~
This is an absolute value calculation unit consisting of 6n, which calculates the most significant bit 1 of the angular deviation digital signal (11...in) and each other bit 1. Calculate the exclusive OR of ~1 U and G Kotsui ono of △, and each signal of 12~in'j:
Output j.
これによれば、最上位ビット１１が００ときは、△ △
と
他のビット１２〜ｉｎがそのまま１２〜ｌｎ Ｌ、て
出力さ法で見れば−ｉｔ ＝１ 、つまり角度偏差Δθ
が１８０’乞越えたとき、６６０６−Δθとして出力さ
れることになる。According to this, when the most significant bit 11 is 00, △ △
and the other bits 12~in are output as they are 12~lnL, -it = 1, that is, the angular deviation Δθ
When exceeds 180', it will be output as 6606-Δθ.
４２は不感帯設定器であり、比較器４１にディジタル信
号の不感帯設定信号（ａ、・・・ｄｎ）を出力する。A dead zone setting device 42 outputs digital dead zone setting signals (a, . . . dn) to the comparator 41.
５０は旋回方向判別器びあり、角度偏差のディ’）タル
信号（１１・・・ｉｎ）の最上位ビットＩＩを受ケ一１
１が１であれば左旋回判別信号Ｊｌを１とし、１１が０
であれは＋１ｉｉｉｔ Ｊ！Ｉ！否定回路５１により右
旋回判別信号、ＴＲを１とする。Reference numeral 50 has a turning direction discriminator, which receives the most significant bit II of the digital signal (11...in) of the angular deviation.
If 1 is 1, the left turn determination signal Jl is set to 1, and 11 is set to 0.
That's +1iiiit J! I! The right turn determination signal, TR, is set to 1 by the negative circuit 51.
６０は論理積ゲート６１および６２で構成する旋回指令
信号発生器であり、旋回信号１Ｄが１のときには右旋回
判別信号ＪＬが１であれば左旋回指令信号ＩＬを１とし
一右旋回判別信号、ＴＲが１であれば右旋回指令信号Ｉ
Ｌを１とす・る。また旋回信号１Ｄが０であればＪＩｚ
ＪＲＯ値にかかわらず１Ｒ＋１Ｌの両方をＯとする。60 is a turning command signal generator composed of AND gates 61 and 62, and when the turning signal 1D is 1 and the right turning determination signal JL is 1, the left turning command signal IL is set to 1 and one right turning is determined. If the signal, TR is 1, the right turn command signal I
Let L be 1. Also, if the turning signal 1D is 0, JIz
Regardless of the JRO value, both 1R+1L are set to O.
旋回スラスタ２では、前記右旋回指令信号１Ｒおよび左
旋回指令信号ＩＬを受け、１Ｒが１であれば右旋回に、
ｉＬが１であれば左旋回し一１Ｈ，ｉｌの両方が００場
合には旋回を停止する。The turning thruster 2 receives the right turn command signal 1R and the left turn command signal IL, and if 1R is 1, turns to the right.
If iL is 1, the vehicle will turn left (1H), and if both il are 00, the vehicle will stop turning.
演σ器７では、角度偏差Δθを前述のようにディジタル
信号（１，・・・ｉｎ）として出力するが、このディジ
タル信号の最上位ビット１１は角度偏差Δθが１８０６
より小さければ０となり、角度偏差Δθが１８０６以上
であれば１１は１となる。よって、旋回信号ＩＤが１の
場合、第６図に示すように、ある基準方向Ｓからの角度
を示す信号θ８とθｐの差である角度偏差Δθか１８０
°より小さければ、第２図の右旋回判別信号ＪＲおよび
右旋回指令信号ＩＲがともに１となり、第６図の旋回ス
ラスタ２を右旋回させる、すなわち旋回角を増加させる
ことにより、角度偏差Δθを零とすべく制御する。The σ operator 7 outputs the angular deviation Δθ as a digital signal (1,...in) as described above, but the most significant bit 11 of this digital signal indicates that the angular deviation Δθ is 1806
If it is smaller, 11 becomes 0, and if the angular deviation Δθ is 1806 or more, 11 becomes 1. Therefore, when the turning signal ID is 1, as shown in FIG.
If it is smaller than °, both the right turn determination signal JR and the right turn command signal IR shown in FIG. 2 become 1, and the turning thruster 2 shown in FIG. Control is performed to make the deviation Δθ zero.
しかるに第４図に示すように、角度偏差Δθが１８０°
以上であれば、第２図の左旋回判別信号、ＴＬおよび左
旋回指令信号ＩＬがともに１となり、第４図で左旋回、
すなわら、旋回角＋！ｉ−減少させることにより角度偏
差Δθを３６０’とすべく制御する。However, as shown in Figure 4, the angular deviation Δθ is 180°.
If the above is the case, the left turn determination signal TL and the left turn command signal IL in FIG. 2 are both 1, and the left turn in FIG.
In other words, the turning angle is +! Control is performed so that the angular deviation Δθ is 360' by decreasing i-.
かくして、第２図の旋回信号ＩＤが１であれば、旋回°
式スラスタ２は、常に１８０’以内で旋回角設定器５で
設定した旋回角に到達できる方向−すなわち、最短径路
を選択して旋回角設定信号θＳに追従して旋回するので
、短時間Ｃ設定角度に到達できる。−
ところで、旋回信号ＩＤが１であれば一前記のように旋
回式スラスタ２は旋回角設定信号θ８に追従するが、こ
のままでは右旋回指令信号１ｉもしくは左旋回信号１Ｌ
のいずれかが常に１となるため、旋回角設定器５で設定
した旋回角＆、−到達すると、１Ｒ１ＩＬが父互Ｇこ１
となるチャタリングが発生することになる。このような
チャタリングを防止するのが比較器４１である。Thus, if the turning signal ID in FIG. 2 is 1, the turning
The thruster 2 always selects the direction in which it can reach the turning angle set by the turning angle setter 5 within 180', that is, the shortest path, and turns following the turning angle setting signal θS, so the C setting is performed for a short time. Can reach angles. - By the way, if the turning signal ID is 1, the turning thruster 2 will follow the turning angle setting signal θ8 as described above, but if this is the case, the right turning command signal 1i or the left turning signal 1L will follow.
Since one of these is always 1, when the turning angle &, - set with the turning angle setting device 5 is reached, 1R1IL becomes 1
Chattering will occur. The comparator 41 prevents such chattering.
１では一絶対値演算器６０の出力信号１ｔ〜ｉｎと不感
帯設定信号（＋１２〜ｄｎ）について前記の演算を行い
、旋回信号ＩＤを出力するが、この旋回信号ＩＤは、旋
回角設定信号θ８と実旋回角θ、の差が不感帯設定信号
で設定され範囲に入ったときＯとなり、旋回式スラスタ
２の旋回を停止させる不感帯としての機Ｆ＋ｒをもつも
のである。1, the above-mentioned calculation is performed on the output signal 1t~in of the absolute value calculator 60 and the dead zone setting signal (+12~dn), and the turning signal ID is output, but this turning signal ID is different from the turning angle setting signal θ8. When the difference between the actual turning angles θ is within the range set by the dead zone setting signal, it becomes O, and the machine F+r is used as a dead zone in which the turning thruster 2 stops turning.
たとえば、不感帯設定信号として（０・・・０１０△
）を与えると、旋回信号１Ｄが０となるのは（１，・・
・△
もしくは６６０°からの偏差を表わすから、上記場合と
は、角度偏差Δθのディジタル信号（１１・・・ｉｎ）
については、１１＝Ｏであれば（０・・・［］）、（Ｑ
・・・０１）であり、ｌｌ−１であれば（１・・・１）
、（１・・・１０）の場合であるが、（１１・・・１ｎ
亦前記のいずれ小の値となるのは、上記（２）式より、
角度偏差Δθが５６０″＞Δθ≧３６０６−（３６０ｘ
２ ３ｘ２ もし・ ｎ −ｎ
くは０≦Δθ＜（３６０ｘ２ ）ｘ２のいずれかであ
ることに相当する。すなわち、不感帯設定信号として（
０・・・０１０）を設定すると、旋回角設定信号θ８と
実旋回角信号θ、の差が−（３６０Ｘ２ ３Ｘ２≦θＢ
−θｐ≦（３６０Ｘ２ ）Ｘ２の範囲に入った場合に
旋回式スラスタの旋回を停止させることになる。For example, if (0...010△) is given as the dead zone setting signal, the turning signal 1D becomes 0 (1,...
・Since it represents the deviation from △ or 660°, the above case means the digital signal (11...in) of the angular deviation Δθ.
For, if 11=O, (0...[]), (Q
...01), and if it is ll-1, then (1...1)
, (1...10), but (11...1n
In addition, the smaller value of the above is determined by the above equation (2),
Angular deviation Δθ is 560″>Δθ≧3606−(360x
2 3x2 If n −n or 0≦Δθ<(360x2)x2. In other words, as a dead band setting signal (
0...010), the difference between the turning angle setting signal θ8 and the actual turning angle signal θ is -(360X2 3X2≦θB
-θp≦(360X2)X2, the rotation of the rotating thruster is stopped.
同様にして、１０進数でＰに相当する２進数を不感帯設
定信号として設定すると、角度偏差Δθのディジタル信
号（１，・・・ｉｎ）の最下位ビットに相当する角度３
６０ ｘ２ のＰ倍の角度幅の不感帯を設けたこと
になる。Similarly, if a binary number corresponding to P in decimal notation is set as a dead zone setting signal, the angle 3 corresponding to the least significant bit of the digital signal (1,...in) of angular deviation Δθ
This means that a dead zone with an angular width P times 60 x 2 is provided.
かくして、旋回式スラスタ２の実旋回角信号θｐが旋回
角設定信号θ８に接近し、不感帯設定器４２であらかじ
め設定された範囲の中に入ると、旋回信号ＩＤが０とな
り、右旋回指令信号ＩＲ１左旋回指令信号ＩＬのいずれ
もが０となるため、旋回式スラスタ１が停止し、チャタ
リングが防止できる。Thus, when the actual turning angle signal θp of the turning thruster 2 approaches the turning angle setting signal θ8 and enters the range preset by the dead band setting device 42, the turning signal ID becomes 0, and the right turning command signal Since both IR1 and left turn command signal IL become 0, the turning thruster 1 stops and chattering can be prevented.
なお−に、記実す恒例では減算器７、絶対値演算器６０
、比軸器４１、旋回方向判別器５０および旋回指令信号
発生器６０を個別の演諒要素を組み合わせて（：ｉＬ４
成したが、これらを単一の電子計算器で構成することら
できる。In addition, in the customary case to be recorded, the subtracter 7 and the absolute value calculator 60
, the ratio axis device 41, the turning direction discriminator 50, and the turning command signal generator 60 are combined with individual instructional elements (:iL4
However, they can be constructed with a single electronic calculator.
以上の説明により明らかなように、この発明によれば短
時間で設定角度に到達でき、簡単な構成でデジタル的な
０Ｎ−ＯＦＦ制御に適した旋回角制御装置が実現できる
。As is clear from the above description, according to the present invention, a turning angle control device that can reach a set angle in a short time and has a simple configuration and is suitable for digital ON-OFF control can be realized.
第１図は旋回式スラスタの側面図、第２図はこの発明の
一実施例を示す回路図−第６図および第４図は旋回式ス
ラスタの旋回動作を示す説明図である。
１・・・船舶、２・・・旋回式スラスタ、５・・・旋回
角設定器、６・・・旋回角検出器、７・・・減算器、６
０・・・絶対値演算器、４１・・・比較器、４２・・・
不感帯設定器、５０・・・旋回方向判別器、６０・・・
旋回指令信号発生器。
θ引・・旋回角設定器凋、θｐ、、、実旋回角信号−Ｉ
Ｉ〜ｉｎ・・・２進コード、ＩＤ・・・旋回信号、ＪＩ
ＪＩＪＲ・・・旋回判別イ■、ｉＬ、ｉＲ・・・旋回指
令信号。
特許出願人 川崎重工業株式会社
一１１１″２．１
第２図FIG. 1 is a side view of the rotating thruster, FIG. 2 is a circuit diagram showing an embodiment of the invention, and FIGS. 6 and 4 are explanatory diagrams showing the rotating operation of the rotating thruster. DESCRIPTION OF SYMBOLS 1... Ship, 2... Turning type thruster, 5... Turning angle setter, 6... Turning angle detector, 7... Subtractor, 6
0... Absolute value calculator, 41... Comparator, 42...
Dead band setting device, 50... Turning direction discriminator, 60...
Turn command signal generator. θ pull...Turning angle setting device decrease, θp,... Actual turning angle signal-I
I~in...Binary code, ID...Turning signal, JI
JIJR... Turning determination i■, iL, iR... Turning command signal. Patent applicant: Kawasaki Heavy Industries, Ltd. 1111″2.1 Figure 2
Claims (1)
旋回角を設定する旋回角設定器と、上記旋回スラスタの
実旋回角を検出する旋回角検出器と一上記旋回角設定器
からの旋回角設定信号と上記旋回角検出器からの実旋回
角信号との角度偏差を演算して２進コードで出力する減
算器と、このｔｆ２算器の出力信号を受けて、その最上
位ビットの信号が００とき他のビットの信号をそのまま
出力し、最王位ビットの信号が１のとき他のビットの信
号の反転信号を出力する絶対値演算器と、この絶対値演
−“σ器からの出力（４号と、予め不感帯設定器で設定
されている不感帯設定信号とを比較し、絶対値演算器か
らの出力信号が不ＩＩ （ｆｆ ａ定信号より大きいと
きは旋回を指令し、小さいときは停止を指令する旋回信
号を出力する比較器と、上記減算器の出力信号の最上位
ビットの信号を受けて、最短経路で上記角度偏差ｋｏに
するように、旋回方向を指定する旋回方向判別器と、こ
の旋回方向判別器からの旋回方向判別信号と上記比較器
からの旋回信号とを受けて、右旋回、左旋回または停止
を指示する旋回指令１９号を出力する旋回指令信号発生
器とを具備してなる旋回式スラスタの旋回角制御装置。(1) A turning angle setting device for setting the turning angle of a turning thruster installed on a ship for propulsion, a turning angle detector for detecting the actual turning angle of the turning thruster, and a turning angle setting device for detecting the turning angle from the turning angle setting device. A subtracter that calculates the angular deviation between the angle setting signal and the actual turning angle signal from the turning angle detector and outputs it as a binary code; When the signal of the most significant bit is 0, the signal of the other bits is output as is, and when the signal of the most significant bit is 1, the signal of the other bit is output as an inverted signal. (Compare No. 4 with the dead zone setting signal set in advance with the dead zone setting device, and if the output signal from the absolute value calculator is larger than the F II (ff a comparator that outputs a turning signal that commands a stop; and a turning direction discriminator that receives the most significant bit of the output signal of the subtracter and specifies the turning direction so that the angular deviation ko is achieved by the shortest route. and a turning command signal generator which receives the turning direction discrimination signal from the turning direction discriminator and the turning signal from the comparator and outputs a turning command No. 19 instructing a right turn, a left turn or a stop. A swing angle control device for a swing type thruster, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9349882A JPS58209697A (en) | 1982-05-31 | 1982-05-31 | Turning angle controller of turn thruster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9349882A JPS58209697A (en) | 1982-05-31 | 1982-05-31 | Turning angle controller of turn thruster |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58209697A true JPS58209697A (en) | 1983-12-06 |
Family
ID=14084008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9349882A Pending JPS58209697A (en) | 1982-05-31 | 1982-05-31 | Turning angle controller of turn thruster |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58209697A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431928B1 (en) * | 1998-09-14 | 2002-08-13 | Abb Azipod Oy | Arrangement and method for turning a propulsion unit |
| JP2008155764A (en) * | 2006-12-22 | 2008-07-10 | Yamaha Motor Co Ltd | Control device for vessel propelling device and sailing support system and vessel using the control device |
| KR20210047907A (en) | 2018-09-05 | 2021-04-30 | 카와사키 주코교 카부시키 카이샤 | Slewing type thruster and control method of slewing type thruster |
-
1982
- 1982-05-31 JP JP9349882A patent/JPS58209697A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431928B1 (en) * | 1998-09-14 | 2002-08-13 | Abb Azipod Oy | Arrangement and method for turning a propulsion unit |
| US6688927B2 (en) | 1998-09-14 | 2004-02-10 | Abb Oy | Arrangement and method for turning a propulsion unit |
| JP2008155764A (en) * | 2006-12-22 | 2008-07-10 | Yamaha Motor Co Ltd | Control device for vessel propelling device and sailing support system and vessel using the control device |
| KR20210047907A (en) | 2018-09-05 | 2021-04-30 | 카와사키 주코교 카부시키 카이샤 | Slewing type thruster and control method of slewing type thruster |
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