JP4703263B2 - 船舶の操舵装置 - Google Patents
船舶の操舵装置 Download PDFInfo
- Publication number
- JP4703263B2 JP4703263B2 JP2005146272A JP2005146272A JP4703263B2 JP 4703263 B2 JP4703263 B2 JP 4703263B2 JP 2005146272 A JP2005146272 A JP 2005146272A JP 2005146272 A JP2005146272 A JP 2005146272A JP 4703263 B2 JP4703263 B2 JP 4703263B2
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- Prior art keywords
- torque
- steering
- ship
- external force
- steering wheel
- 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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Links
- 238000001514 detection method Methods 0.000 claims description 39
- 230000004044 response Effects 0.000 description 27
- 238000004364 calculation method Methods 0.000 description 24
- 238000000034 method Methods 0.000 description 15
- 230000008859 change Effects 0.000 description 14
- 230000008569 process Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
- B63H20/12—Means enabling steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
1a・・・船舶本体
3・・・・船外機
7・・・・ステアリング装置
9・・・・反トルクモータ
12・・・コントロールユニット(制御手段)
16・・・負荷センサ(外力検知手段)
17・・・反トルク演算回路
19・・・速度センサ(速度検知手段)
20・・・エンジン回転数センサ(走行状態検知手段)
30・・・操舵装置
Claims (4)
- 船舶本体の外部に電動アクチュエータによって回動し航行方向を変化させる舵を設けた船舶において、
前記電動アクチュエータを介して前記舵と電気的に接続されて前記舵を操舵するステアリングホイールと、
前記舵に加わった外力を検知する外力検知手段と、
前記ステアリングホイールにトルクを付与する反トルクモータと、
前記外力検知手段の検知状態を監視し、前記外力の変動量が所定値以上となったことを検知したときに前記反トルクモータにパルス状のトルクを付与させる制御手段とを設けたことを特徴とする船舶の操舵装置。 - 前記制御手段は、前記外力検知手段の検知した外力の変動量に基づいて前記反トルクモータが付与するトルクの大きさ及び継続時間を決定することを特徴とする請求項1に記載の船舶の操舵装置。
- 船舶の航行速度を検知する速度検知手段と、船舶の走行状態を検知する走行状態検知手段とを備え、前記制御手段は、前記外力に加え、前記速度検知手段や前記走行状態検知手段の検知状態を監視し、前記航行速度および前記走行状態の検知結果に基づいて前記反トルクモータが付与するトルクの大きさ及び継続時間を決定することを特徴とする請求項1又は2に記載の船舶の操舵装置。
- 前記制御手段は、前記外力の変動量が、前記外力、前記速度及び前記走行状態より算出した基準値よりも大きいときに、前記反トルクモータにトルクを付与させることを特徴とする請求項1乃至3の何れか1つに記載の船舶の操舵装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005146272A JP4703263B2 (ja) | 2005-03-18 | 2005-05-19 | 船舶の操舵装置 |
US11/384,616 US7267069B2 (en) | 2005-03-18 | 2006-03-20 | Steering control system for boat |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005080118 | 2005-03-18 | ||
JP2005080118 | 2005-03-18 | ||
JP2005146272A JP4703263B2 (ja) | 2005-03-18 | 2005-05-19 | 船舶の操舵装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006290323A JP2006290323A (ja) | 2006-10-26 |
JP4703263B2 true JP4703263B2 (ja) | 2011-06-15 |
Family
ID=37035809
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005146272A Active JP4703263B2 (ja) | 2005-03-18 | 2005-05-19 | 船舶の操舵装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US7267069B2 (ja) |
JP (1) | JP4703263B2 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4938271B2 (ja) | 2005-09-02 | 2012-05-23 | ヤマハ発動機株式会社 | 船舶の操舵方法及び操舵装置 |
JP2007050823A (ja) | 2005-08-19 | 2007-03-01 | Yamaha Marine Co Ltd | 小型船舶の挙動制御装置 |
JP4658742B2 (ja) | 2005-09-02 | 2011-03-23 | ヤマハ発動機株式会社 | 小型船舶のステアリング装置 |
JP4673187B2 (ja) | 2005-10-25 | 2011-04-20 | ヤマハ発動機株式会社 | 多機掛け推進機の制御装置 |
JP4732860B2 (ja) | 2005-11-04 | 2011-07-27 | ヤマハ発動機株式会社 | 船外機用電動式操舵装置 |
JP4994006B2 (ja) * | 2006-11-17 | 2012-08-08 | ヤマハ発動機株式会社 | 船舶用操舵装置及び船舶 |
JP2008126775A (ja) * | 2006-11-17 | 2008-06-05 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
EP1923306A3 (en) * | 2006-11-17 | 2011-05-18 | Yamaha Hatsudoki Kabushiki Kaisha | Steering system for a watercraft |
JP4994005B2 (ja) * | 2006-11-17 | 2012-08-08 | ヤマハ発動機株式会社 | 船舶用操舵装置及び船舶 |
JP5132132B2 (ja) | 2006-11-17 | 2013-01-30 | ヤマハ発動機株式会社 | 船舶用操舵装置及び船舶 |
JP4884177B2 (ja) * | 2006-11-17 | 2012-02-29 | ヤマハ発動機株式会社 | 船舶用操舵装置及び船舶 |
JP2009083700A (ja) * | 2007-10-01 | 2009-04-23 | Yamaha Motor Co Ltd | 転舵制御方法、転舵制御装置および船舶 |
JP5249110B2 (ja) * | 2009-03-31 | 2013-07-31 | ヤマハ発動機株式会社 | 船舶用推進システム |
US8740660B2 (en) | 2009-06-24 | 2014-06-03 | Zf Friedrichshafen Ag | Pod drive installation and hull configuration for a marine vessel |
US8376794B2 (en) * | 2009-10-29 | 2013-02-19 | Mark X Steering Systems, Llc | Electromechanically actuated steering vane for marine vessel |
DE102010001102A1 (de) * | 2009-11-06 | 2011-05-12 | Becker Marine Systems Gmbh & Co. Kg | Anordnung zur Ermittlung einer auf ein Ruder wirkenden Kraft |
GB0920249D0 (en) * | 2009-11-19 | 2010-01-06 | Mactaggart Scott | Actuator |
EP3006327B1 (en) | 2014-10-06 | 2018-05-16 | ABB Schweiz AG | A control system for a ship |
CN104787238B (zh) * | 2015-04-20 | 2017-03-08 | 中国船舶工业集团公司第七〇八研究所 | 一种可以直接测量操舵倒航机构操纵力的装置 |
USD831652S1 (en) | 2015-08-20 | 2018-10-23 | Brunswick Corporation | Animated responsive display on a joystick |
US9690295B1 (en) * | 2015-08-20 | 2017-06-27 | Brunswick Corporation | Heading control on a marine vessel |
US10457370B1 (en) | 2016-11-18 | 2019-10-29 | Brunswick Corporation | Marine steering system and method of providing steering feedback |
US10232925B1 (en) | 2016-12-13 | 2019-03-19 | Brunswick Corporation | System and methods for steering a marine vessel |
JP2022147044A (ja) * | 2021-03-23 | 2022-10-06 | 日立Astemo株式会社 | 船舶用ステアリング装置 |
US11628920B2 (en) | 2021-03-29 | 2023-04-18 | Brunswick Corporation | Systems and methods for steering a marine vessel |
JP2022154113A (ja) * | 2021-03-30 | 2022-10-13 | 日立Astemo株式会社 | 船舶用ステアリング装置 |
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-
2005
- 2005-05-19 JP JP2005146272A patent/JP4703263B2/ja active Active
-
2006
- 2006-03-20 US US11/384,616 patent/US7267069B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000318691A (ja) * | 1999-05-17 | 2000-11-21 | Yamaha Motor Co Ltd | 小型滑走艇の操舵力アシスト方法及び装置 |
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JP2005313823A (ja) * | 2004-04-30 | 2005-11-10 | Honda Motor Co Ltd | 船外機の操舵装置 |
Also Published As
Publication number | Publication date |
---|---|
US7267069B2 (en) | 2007-09-11 |
JP2006290323A (ja) | 2006-10-26 |
US20060217012A1 (en) | 2006-09-28 |
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