JP4951489B2 - 船舶 - Google Patents
船舶 Download PDFInfo
- Publication number
- JP4951489B2 JP4951489B2 JP2007325372A JP2007325372A JP4951489B2 JP 4951489 B2 JP4951489 B2 JP 4951489B2 JP 2007325372 A JP2007325372 A JP 2007325372A JP 2007325372 A JP2007325372 A JP 2007325372A JP 4951489 B2 JP4951489 B2 JP 4951489B2
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- Prior art keywords
- motor
- steering
- steered
- load
- output value
- Prior art date
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- 238000001514 detection method Methods 0.000 claims description 40
- 239000007858 starting material Substances 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 7
- 230000001141 propulsive effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000009420 retrofitting Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000003869 coulometry Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/34—Control or regulation of multiple-unit electrically-propelled vehicles with human control of a setting device
- B60L15/36—Control or regulation of multiple-unit electrically-propelled vehicles with human control of a setting device with automatic control superimposed, e.g. to prevent excessive motor current
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/50—Control modes by future state prediction
- B60L2260/54—Energy consumption estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J3/00—Driving of auxiliaries
- B63J2003/001—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam
- B63J2003/002—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam by using electric power
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Power Steering Mechanism (AREA)
Description
[発明の実施の形態1]
[発明の実施の形態2]
1a 船体
12 船外機
13 船舶推進装置作動手段
14A,14B 転舵モータ(転舵駆動手段)
15a〜15d 信号ケーブル
16 転舵制御手段
17 負荷電力制御手段
18 転舵荷重制御手段
19 通常時転舵駆動制御手段
20 転舵荷重検出手段
21 モータ出力検出手段
22 非常時制御手段
23 第2予測判断手段
24 第2非常時制御手段
25 第1予測判断手段
26 第1非常時制御手段
Claims (7)
- 船体に回動可能に配設される船舶推進装置と、前記船体に設けられ、操船者に操舵される船舶推進装置作動手段と、前記船舶推進装置作動手段の操舵に基づいて前記船舶推進装置を転舵させる転舵モータと、該転舵モータ及び前記船舶推進装置作動手段を電気的に接続する信号ケーブルとを有する船舶であって、
前記転舵モータへ電力を供給するバッテリの実際の充電量又は、予測使用電流から算出した前記バッテリの予測の充電量と、走行状態に応じて予め定められた閾値とを比較する第1予測判断手段と、
航行状態で前記船舶推進装置を転舵させるのに必要な前記転舵モータの必要出力値を算出する転舵荷重検出手段と、
前記第1予測判断手段により、前記閾値が前記バッテリの充電量より大きいと判断されたときに、前記必要出力値を現時点より小さくするように制御する転舵荷重制御手段とを有することを特徴とする船舶。 - 前記転舵モータが出力することができる可能出力値を検出するモータ出力検出手段と、
前記転舵荷重検出手段からの必要出力値と、前記モータ出力検出手段からの可能出力値とを比較する第2予測判断手段と、
該第2予測判断手段により、前記必要出力値が前記可能出力値より大きいと判断されたときに、前記バッテリの充電量を増加させ、及び又は負荷電力を減少させるように制御する負荷電力制御手段とを有することを特徴とする請求項1に記載の船舶。 - 前記転舵荷重検出手段は、走行状態、転舵状態、前記船舶推進装置状態、前記転舵モータ駆動状態の少なくとも何れか一つの状態から、前記必要出力値を算出するようにしたことを特徴とする請求項1又は2に記載の船舶。
- 前記モータ出力検出手段は、バッテリ電圧、バッテリ電流、前記転舵モータ温度、前記転舵モータ故障状態、前記船舶推進装置の駆動数の少なくとも何れか一つの状態から、前記可能出力値を検出するようにしたことを特徴とする請求項2に記載の船舶。
- 前記転舵荷重制御手段は、トリム角、エンジン回転数、転舵角、操舵反力、前記転舵モータ駆動電流の少なくとも何れか一つを制御して、前記必要出力値を現時点より小さくするように制御することを特徴とする請求項1乃至4の何れか一つに記載の船舶。
- 前記負荷電力制御手段は、前記船舶推進装置のエンジンの駆動数、前記トリムの駆動、エンジンスタータの駆動、エンジン回転数、バッテリ接続数及び駆動する発電機の数の少なくとも何れか一つを制御して、前記転舵モータに供給される電力を現時点より大きくして前記可能出力値を大きくするように制御することを特徴とする請求項2に記載の船舶。
- 前記負荷電力制御手段は、前記転舵制御に使用する電力を除く電気機器の負荷電力を小さくして、前記転舵モータに供給される電力を現時点より大きくして前記可能出力値を大きくするように制御するようにしたことを特徴とする請求項2に記載の船舶。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007325372A JP4951489B2 (ja) | 2007-12-18 | 2007-12-18 | 船舶 |
US12/431,873 US8838305B2 (en) | 2007-12-18 | 2009-04-29 | Boat including steering load control |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007325372A JP4951489B2 (ja) | 2007-12-18 | 2007-12-18 | 船舶 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009143502A JP2009143502A (ja) | 2009-07-02 |
JP4951489B2 true JP4951489B2 (ja) | 2012-06-13 |
Family
ID=40914650
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007325372A Active JP4951489B2 (ja) | 2007-12-18 | 2007-12-18 | 船舶 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8838305B2 (ja) |
JP (1) | JP4951489B2 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5031590B2 (ja) * | 2008-01-08 | 2012-09-19 | ヤマハ発動機株式会社 | 船舶 |
KR101347372B1 (ko) | 2011-08-12 | 2014-01-03 | 삼성중공업 주식회사 | 전력 관리 시스템 및 그 운용 방법 |
KR20150019748A (ko) * | 2013-08-14 | 2015-02-25 | 현대중공업 주식회사 | 선박의 전력저장장치를 이용한 연료절감 방법 |
US9745036B2 (en) | 2015-06-23 | 2017-08-29 | Brunswick Corporation | Systems and methods for automatically controlling attitude of a marine vessel with trim devices |
US10518856B2 (en) | 2015-06-23 | 2019-12-31 | Brunswick Corporation | Systems and methods for automatically controlling attitude of a marine vessel with trim devices |
US9919781B1 (en) | 2015-06-23 | 2018-03-20 | Brunswick Corporation | Systems and methods for automatically controlling attitude of a marine vessel with trim devices |
US20170029084A1 (en) * | 2015-07-28 | 2017-02-02 | Steering Solutions Ip Holding Corporation | Column based electric assist marine power steering |
US10814952B2 (en) * | 2017-02-15 | 2020-10-27 | Yamaha Hatsudoki Kabushiki Kaisha | Boat and heading control method |
US10059415B1 (en) * | 2017-08-14 | 2018-08-28 | Brunswick Corporation | System and method for controlling a tilt-trim position of a marine propulsion device |
US10829190B1 (en) | 2018-05-29 | 2020-11-10 | Brunswick Corporation | Trim control system and method |
US11372411B1 (en) | 2019-08-08 | 2022-06-28 | Brunswick Corporation | Marine steering system and method |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0723104B2 (ja) * | 1986-04-22 | 1995-03-15 | 三菱電機株式会社 | モ−タ駆動式パワ−ステアリング制御装置 |
JP2959044B2 (ja) * | 1990-05-31 | 1999-10-06 | スズキ株式会社 | 船外機のステアリング装置 |
JP3186874B2 (ja) * | 1992-11-30 | 2001-07-11 | 株式会社ショーワ | 船舶推進機用パワーステアリング装置のモータ駆動制御回路 |
JP3687753B2 (ja) * | 1995-02-02 | 2005-08-24 | ヤマハマリン株式会社 | 船舶用エンジンの運転制御装置 |
JP3374621B2 (ja) * | 1995-10-30 | 2003-02-10 | 国産電機株式会社 | 内燃機関用電源装置 |
JP2003127986A (ja) * | 2001-10-24 | 2003-05-08 | Sanshin Ind Co Ltd | 小型船舶、船外機 |
JP3940284B2 (ja) * | 2001-10-24 | 2007-07-04 | ヤマハマリン株式会社 | 推進用エンジンを備えた船舶のバッテリ充電残量維持装置 |
JP4276096B2 (ja) * | 2004-01-29 | 2009-06-10 | ヤマハ発動機株式会社 | 船舶推進装置の電源供給システム |
JP2007008214A (ja) * | 2005-06-28 | 2007-01-18 | Auto Network Gijutsu Kenkyusho:Kk | 負荷制御システムおよび負荷制御プログラム |
JP5031590B2 (ja) * | 2008-01-08 | 2012-09-19 | ヤマハ発動機株式会社 | 船舶 |
-
2007
- 2007-12-18 JP JP2007325372A patent/JP4951489B2/ja active Active
-
2009
- 2009-04-29 US US12/431,873 patent/US8838305B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2009143502A (ja) | 2009-07-02 |
US8838305B2 (en) | 2014-09-16 |
US20100114412A1 (en) | 2010-05-06 |
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