[0001] The present invention relates to a steering system, and in particular to a watercraft
steering device having an electric actuator which is actuated as an operator operates
a steering wheel for rudder deflection, and particularly to a watercraft steering
device which can control a limit rudder deflection angle, and to a watercraft with
the steering device.
[0002] One conventional steering device of this type is known from the document
US 2005/170713 which is considered as being the prior art closest to the subject-matter of claim
1 and discloses all the features of its preamble.
[0003] Document
JP-A-2005-254848 discloses an other example of a watercraft of this type. More specifically this document
discloses that "the electric actuator of the steering device is actuated as an operator
operates the steering wheel. The watercraft is steered in response to the operation
amount of the steering wheel. Further, an external force to the watercraft is detected.
Based on the detected external force, a reaction torque is applied to the steering
wheel. Accordingly, the operator can feel the external force to the watercraft due
to a water current for example, directly through the steering wheel, and thus can
recognize the movement of the watercraft corresponding to such external force to thereby
act without delay."
[0004] In such conventional watercrafts, a reaction torque is applied to the steering wheel
based on an external force to the watercraft. An operator can feel such external force
due to a water current for example, directly through the steering wheel, and thus
can recognize the movement of the watercraft corresponding to the external force to
thereby act without delay. However, a load of water pressure during the rudder deflection
may be larger when the rudder is returned than when the rudder is deflected, depending
on a watercraft size. Thus, deflecting the rudder overly could provide output from
a steering motor (electric actuator) lower than a required rudder deflection force
when the rudder is returned, resulting in impaired responsiveness and a poorer operation
feel.
[0005] It should be noted that ruder deflection torque characteristics required for rudder
deflection (required rudder deflection force characteristics) may change from the
state shown by required rudder deflection force characteristic line A1 to the state
shown by required rudder deflection force characteristic line A2, as shown in FIG.
7, depending on the characteristics of the watercraft, a rudder deflection angle,
an operation speed, or the like. In such case, if a limit rudder deflection angle
is invariable, a rudder deflection force required when the rudder is returned after
being deflected to a maximum position may exceed the limit of the motor ability, resulting
in impaired responsiveness and a poorer operation feel.
[0006] Further, as shown in FIG. 8, motor characteristics depend on the surroundings such
as temperature. When the temperature becomes high for example, the motor characteristics
may change from the state shown by motor characteristic line B1 (solid line in the
figure) to the state shown by motor characteristic line B2 (broken line in the figure).
In such case, since the motor characteristics at high temperatures provide lower motor
torque, a rudder deflection force required when the rudder is returned after being
deflected to the maximum position may exceed the motor ability, resulting in impaired
responsiveness and a poorer operation feel.
[0007] In view of the foregoing problem, it is, therefore, an object of the present invention
to provide a steering device which provides an operator with invariably excellent
efficiency and an excellent operation feel during rudder deflection, depending on
a running status of the watercraft.
[0008] This objective is solved in an inventive manner by a steering system for a watercraft,
comprising: a rudder; a steering device including an actuator configured to change
a direction in which the watercraft travels; a steering amount input means, operable
by an operator, electrically connected to the actuator to provide an actuation signal
corresponding to the amount of a steering operation to the actuator; and control means
for controlling a limit of a rudder deflection angle, the control means including
at least one of operation status detection means for detecting an operation status
corresponding to the steering operation, running status detection means for detecting
a running status of the watercraft, watercraft propulsion unit status recognition
means for recognizing a status of a watercraft propulsion unit of the watercraft,
such as the installation number thereof, and actuator status detection means for detecting
a status of the actuator; and rudder deflection angle control means for controlling
a limit rudder deflection angle based on the detection value from the at least one
of the detection and recognition means.
[0009] Preferably, the watercraft propulsion unit, in particular arranged at a stern of
the watercraft, is used as the rudder.
[0010] Further, preferably the actuator configured to change a direction in which the watercraft
travels is an electric actuator.
[0011] Still further, preferably the operation status detection means includes at least
one of rudder deflection force detection means for detecting a rudder deflection force
required for rudder deflection, load detection means for detecting a load to the rudder,
steering operation detection means for detecting a direction in which the rudder is
deflected, corresponding to a direction in which the steering wheel is operated and/or
the steering wheel operation, and deviation detection means for detecting a deviation
of a detected actual rudder deflection angle from a target rudder deflection angle
corresponding to the steering wheel operation.
[0012] Therein, it is beneficial if the running status detection means includes at least
one of weight detection means for detecting at least one of a position of a waterline
and a weight of the watercraft, trim angle detection means for detecting a trim angle
of the watercraft, and speed detection means for detecting at least one of a speed,
an acceleration, a deceleration and a propulsive force of the watercraft, and an output
of the watercraft propulsion unit.
[0013] It is further beneficial if the watercraft propulsion unit status recognition means
includes operation storage means for storing therein any one of pieces of information
on the installation number of the watercraft propulsion unit, an installation position
of the watercraft propulsion unit relative to the watercraft, a rotational direction
of a propeller of the watercraft propulsion unit, a propeller shape, a tab trim angle
and a tab trim shape.
[0014] Preferably, the actuator status detection means is an electric actuator status detection
means, which includes temperature detection means for detecting a temperature of the
electric actuator.
[0015] Further, preferably the actuator status detection means is an electric actuator status
detection means includes operating number detection means for detecting the number
of the electric actuator in operation.
[0016] According to a preferred embodiment, the steering system further comprises: a reaction
motor for applying a reaction force to the steering wheel; and reaction motor control
means for increasing a reaction force to the reaction motor as the rudder nearly achieves
the limit rudder deflection angle.
[0017] Preferably, the steering amount input means is a steering wheel or a control lever,
operable by an operator, electrically connected to the electric actuator to provide
an actuation signal corresponding to the amount of a steering input operation to the
electric actuator.
[0018] According to another preferred embodiment, the steering system further includes an
electronic control unit (ECU) for controlling a limit of a steering means deflection
angle, the ECU including at least one of operation status detection means for detecting
an operation status corresponding to a steering amount input means operation, running
status detection means for detecting a running status of the watercraft, outboard
motor status recognition means for recognizing a status of an outboard motor, such
as the installation number thereof, and electric motor status detection means for
detecting a status of an electric motor, and the ECU also including steering means
deflection angle control means for controlling a limit steering means deflection angle
based on the detection value from the at least one of the means.
[0019] There is further provided a watercraft provided with a steering system for a watercraft
according to one of the above embodiments.
[0020] In the following, the present invention is explained in greater detail with respect
to several embodiments thereof in conjunction with the accompanying drawings, wherein:
- FIG. 1
- is a plan view of a watercraft in accordance with an embodiment of the present teaching,
- FIG. 2
- is an enlarged plan view of a steering device of the watercraft in accordance with
the embodiment of the present teaching,
- FIG. 3
- is a block diagram of the watercraft in accordance with the embodiment of the present
teaching,
- FIG. 4
- is a block diagram of an ECU in accordance with the embodiment of the present teaching,
- FIG. 5
- is a flowchart of a reaction control process in accordance with the embodiment of
the present teaching,
- FIGs. 6
- are graphs illustrating the operation in accordance with the embodiment of the present
teaching, in which FIG. 6(a) illustrates the relationship between rudder deflection
speeds and rudder deflection forces; and FIG. 6(b) illustrates the relationship between
rudder deflection angles and rudder deflection forces,
- FIG. 7
- is a graph of required rudder deflection force characteristics, illustrating the relationship
between rudder deflection forces and rudder deflection speeds, and
- FIG. 8
- is a graph of motor characteristics, illustrating the relationship between torques
generated by an electric motor and rotational speeds.
Description of Reference Numerals:
[0021]
10: hull
12: outboard motor (watercraft propulsion unit)
16: steering device
17: steering wheel
20: electric motor
28: steering wheel operation angle sensor
29: reaction motor
33: ECU (control unit)
38: operation status detection means
39: running status detection means
40: outboard motor status recognition means (watercraft propulsion unit status recognition
means)
41: electric motor status detection means (electric actuator status detection means)
42: rudder deflection angle control means
41: reaction motor control means
44: load detection means
45: deviation detection means
46: rudder deflection force detection means
47: steering operation detection means
48: weight detection means
49: trim angle detection means
50: speed detection means
51: operation storage means
52: temperature detection means
53: operating number detection means
[0022] An embodiment of the present teaching will now be described.
[0023] FIGs. 1 to 6 illustrate the embodiment of the present teaching.
[0024] The constitution of this embodiment will be first described. As shown in FIG. 1,
a watercraft in accordance with this embodiment has a hull 10 including a transom
11. To the transom 11, an outboard motor 12 as a "watercraft propulsion unit" is mounted
via clamp brackets 13. The outboard motor 12 is pivotable about a swivel shaft (steering
pivot shaft) 14 extending in a vertical direction. The outboard motor 12 serves as
a rudder as it pivots, and thus the direction in which the watercraft is driven is
changed.
[0025] A steering bracket 15 is fixed at the upper end of the swivel shaft 14. The steering
bracket 15 is coupled at its front end 15a to a steering device 16. The steering device
16 is driven by operating a steering wheel 17 disposed in an operator's section.
[0026] As shown in FIG. 2, the steering device 16 includes a DD (direct drive) electric
motor 20 for example, as an "electric actuator." The electric motor 20 is attached
to a threaded rod 21 extending in a width direction of the watercraft, and is movable
in the width direction of the watercraft along the threaded rod 21.
[0027] The threaded rod 21 is supported at its both ends by a pair of left and right supports
22. The supports 22 are supported by a tilt shaft 23.
[0028] The electric motor 20 has a coupling bracket 24 extending rearward. The coupling
bracket 24 and the steering bracket 15 are coupled with each other via a coupling
pin 25.
[0029] As a result, as the electric motor 20 is actuated to move in the width direction
of the watercraft relative to the threaded rod 21, the outboard motor 12 will pivot
about the swivel shaft 14 via the coupling bracket 24 and the steering bracket 15.
[0030] On the other hand, as shown in FIG. 1, the steering wheel 17 is fixed to a steering
wheel shaft 26. At the proximal end of the steering shaft 26, there is provided a
steering wheel control unit 27. The steering wheel control unit 27 includes a steering
wheel operation angle sensor 28 for detecting an operation angle of the steering wheel
17, and a reaction motor 29 for applying a desired reaction force to the steering
wheel 17 during an operation of the steering wheel 17 by the operator.
[0031] The steering wheel control device 27 is connected to an electronic control unit (ECU)
33 as "control means" via a signal cable 30. The control unit 33 is connected to the
electric motor 20 of the steering device 16. The control unit 33 receives a signal
from the steering wheel operation angle sensor 28, controls the electric motor 20,
and controls the reaction motor 29.
[0032] As shown in FIG. 4, the control unit 33 includes operation status detection means
38 for detecting an operation status corresponding to an operator's steering wheel
operation, running status detection means 39 for detecting a running status of the
watercraft, outboard motor status recognition means 40 as "watercraft propulsion unit
status recognition means" for recognizing a status of the outboard motor 12, such
as its installation number, and electric motor status detection means 41 as "electric
actuator status detection means" for detecting a status of the electric motor 20.
The control unit 33 also includes rudder deflection angle control means 42 for controlling
to make a limit rudder deflection angle smaller when it determines that a load to
the electric motor 20 during rudder deflection will increase, based on the detection
values from those means 38... , and reaction motor control means 43 for increasing
a reaction force for the reaction motor 29 as the rudder nearly achieves the limit
rudder deflection angle.
[0033] The operation status detection means 38 includes rudder deflection force detection
means 46 for detecting a rudder deflection force required for rudder deflection, load
detection means 53 for detecting a load to the rudder, such as water pressure, and
steering operation detection means 47 for detecting a direction in which the rudder
is deflected, corresponding to a direction in which the steering wheel 17 is operated
and/or a steering wheel operation, as shown in FIG. 3, and deviation detection means
45 for detecting a deviation of a detected actual rudder deflection angle from a target
rudder deflection angle corresponding to the steering wheel operation, as shown in
FIG. 4. The steering wheel operation angle sensor 28 provided in the steering operation
detection means 47 detects a steering wheel operation angle.
[0034] To the running status detection means 39, there are connected weight detection means
48 for detecting the position of a waterline and the weight of the watercraft, trim
angle detection means 49 for detecting a trim angle of the watercraft, speed detection
means 50 for detecting a speed, an acceleration and a propulsive force of the watercraft,
and an output of the outboard motor 12, and PTT operation status detection means (not
shown) for detecting a PTT operation status, as shown in FIG. 3.
[0035] Further, to the outboard motor status recognition means 40, there is connected operation
storage means 51 for storing therein information on the installation number of the
outboard motor 12, the installation position of the outboard motor 12 relative to
the watercraft, a rotational direction of a propeller of the outboard motor 12, a
propeller size, a propeller shape, a tab trim angle, a tab trim shape, and the like.
It is a matter of course that the operation storage means 51 can be included in the
ECU 33.
[0036] Furthermore, the electric motor status detection means 41 includes temperature detection
means 52 for detecting a temperature of the electric motor 20, and operating number
detection means 53 for detecting the number of electric motors 20 in operation.
[0037] The operation of this embodiment will now be described.
[0038] As the operator first turns the steering wheel 17 in any direction by any angle,
a signal will be transmitted from the steering wheel operation angle sensor 28 in
the steering operation detection means 47 to the ECU 33. Then, in step S10 of FIG.
5, a target rudder deflection angle is detected, and in step S11, a target deviation
is computed.
[0039] Further, in step S12, the operation status detection means 38 detects an operation
status. As used herein, the term "operation status" refers to a rudder deflection
force required for deflecting the outboard motor 12, a load to the rudder (outboard
motor 12), a direction in which the steering wheel 17 is operated, a direction in
which the rudder (outboard motor 12) is deflected, a deviation of a detected actual
rudder deflection angle from a target rudder deflection angle corresponding to a steering
wheel operation, and the like.
[0040] The rudder deflection force is detected by the rudder deflection force detection
means 46. The load to the rudder is detected by the load detection means 44. The direction
in which the steering wheel 17 is operated and the direction in which the rudder is
deflected are detected by the steering operation detection means 47. The deviation
of a detected actual rudder deflection angle from a target rudder deflection angle
corresponding to the steering wheel operation is detected by the deviation detection
means 45. Detection signals from those means are transmitted to the operation status
detection means 38 to thereby detect the operation status.
[0041] Further, in step S13, the running status detection means 39 detects a running status.
As used herein, the term "running status" refers to the position of a waterline, the
weight, a trim angle, a speed, an acceleration, a deceleration and a propulsive force
of the watercraft, an output of the outboard motor 12, and the like.
[0042] The position of a waterline and the weight of the watercraft are detected by the
weight detection means 48. The trim angle of the watercraft is detected by the trim
angle detection means 49. The speed, the acceleration, the deceleration and the propulsive
force of the watercraft, and the output of the outboard motor 12 are detected by the
speed detection means 50. Detection signals from those means are transmitted to the
running status detection means 39 to thereby detect the running status.
[0043] Further, in step S14, the outboard motor status recognition means 40 recognizes a
status of the outboard motor 12. As used herein, the term "the status of the outboard
motor 12" refers to the installation number of the outboard motor 12, the installation
position of the outboard motor 12 relative to the watercraft, a rotational direction
of the propeller of the outboard motor 12, a propeller shape, a tab trim angle, a
tab trim shape, and the like.
[0044] Information on the installation number of the outboard motor 12, the installation
position of the outboard motor 12 relative to the watercraft, the rotational direction
of the propeller of the outboard motor 12, and the like are stored in the operation
storage means 51. Such information is read and then transmitted to the outboard motor
status recognition means 40 to thereby recognize the status of the outboard motor
12.
[0045] Thereafter, in step S15, the electric motor status detection means 41 detects a status
of the electric motor 20. As used herein, the term "the status of the electric motor
20" refers to factors which influence the output characteristics of the electric motor
20, specifically a temperature and a voltage of the electric motor 20, the number
of the electric motor 20 in operation, and the like.
[0046] The temperature of the electric motor 20 is detected by the temperature detection
means 52. The number of the electric motor 20 in operation is detected by the operating
number detection means 53. Detection signals from those means are transmitted to the
electric motor status detection means 41 to thereby detect the status of the electric
motor 20.
[0047] Based on such detection values, in step S16, the rudder deflection angle control
means 42 in the ECU 33 computes a limit rudder deflection angle for rudder angle restriction,
and in step S17, rudder deflection control is performed. The rudder deflection control
is made such that the outboard motor 12 achieves the limit deflection angle as the
ECU 33 controls the electric motor 20, and the process then returns to step S10.
[0048] As a result, during the operation of the watercraft by the operator, since rudder
deflection angle restriction is performed depending on a running status of the watercraft,
and the like, the electric motor 20 is actuated with excellent responsiveness invariably,
and the operator can obtain an excellent feel of operation when deflecting the rudder.
More specifically,
(1) Control depending on steering operation status
[0049] When a rudder deflection force required for rudder deflection is large and thereby
a load to the rudder is large, or when the rudder is deflected in a direction which
receives a reaction force to the propeller in response to a direction in which the
steering wheel 17 has been operated, or a direction in which the rudder is expected
to deflect, a limit rudder deflection angle is made smaller to limit an increase in
the rudder deflection force.
[0050] As a result, making the rudder deflection angle smaller limits an increase in the
rudder deflection force, allowing a much faster steering wheel operation. This also
prevents exceeding the limit of rudder deflection ability during rudder deflection.
(2) Control depending on running status
a. Operation of position of waterline, weight and trim angle
[0051] When the position of a waterline is high, the weight of the watercraft is heavy,
or a trim angle is small so that the watercraft 12 is positioned generally vertically
in a certain fore-and-aft range, a rudder deflection force corresponding to a rudder
angle will increase.
[0052] Thus, making a rudder deflection angle smaller limits an increase in rudder deflection
force, allowing a much faster operation of the steering wheel 17. This also prevents
exceeding the limit of rudder deflection ability during rudder deflection.
b. Operation of speed, propulsive force, acceleration, deceleration and output
[0053] When selectively accelerating or decelerating, the watercraft generates a propulsive
force larger than that during cruising at a certain speed, which causes a reaction
force to the propeller to increase.
[0054] As a result, making the rudder deflection angle smaller limits an increase in the
rudder deflection force, allowing a much faster steering wheel operation. This also
prevents exceeding the limit of rudder deflection ability during rudder deflection.
3) Control depending on status of outboard motor 12
[0055] A rudder deflection load increases as the installation number of the outboard motor
12 increases. A rudder deflection load increases as the propeller increases in size.
A rudder deflection load increases in one direction depending on a rotational direction
of the propeller. A rudder deflection load increases depending on the tab trim size.
A rudder deflection load increases when a tab trim angle is deviating from a reference
position corresponding to a watercraft speed, a trim angle, and a waterline.
[0056] As a result, making the rudder deflection angle smaller limits an increase in the
rudder deflection force, allowing a much faster steering wheel operation. This also
prevents exceeding the limit of rudder deflection ability during rudder deflection.
[0057] As to the installation position of the outboard motor 12, in a watercraft with a
plurality of the outboard motors 12, when it is driven with only part of the outboard
motors 12 actually in operation, or when the individual watercrafts are in different
trim status (when the lower part of the individual outboard motor 12 has a different
underwater depth), rudder deflection load characteristics will not be the same between
rudder deflection to the left and rudder deflection to the right. Accordingly, a propulsive
force is adjusted, depending on whether the outboard motor 12 generating the propulsive
force is on the left or the right in the width direction of the watercraft, or the
outboard motor 12 having a smaller trim angle and thereby a deeper underwater depth
is on the left or the right in the width direction of the watercraft (the propulsive
force is decreased when the rudder is returned from a deflected position to the side
on which the outboard motor 12 of a deeper underwater depth is installed).
4) Control depending on motor status
[0058] As the motor temperature rises, the motor characteristics described above tends to
be exhibited as shown by broken line in FIG. 8, and thus less torque will be outputted
from the motor. Accordingly, a limit rudder deflection angle is made smaller to thereby
prevent exceeding the limit of the ability of the electric motor 20.
[0059] Also, the number of the electric motor 20 in operation is detected, and for the fewer
motor in operation, a limit rudder deflection angle is made smaller. More specifically,
as the number of the motor operable is fewer, a limit rudder deflection angle is made
smaller to thereby prevent exceeding the limit of the ability of the electric motor
20, e.g., in the case of a plurality of the electric motors 20 in use, if any of them
is not operable due to a failure or the like; or in the case where a watercraft is
equipped with a plurality of the outboard motors 12 operatively coupled to each other
for the same rudder deflecting movement, each outboard motor 12 having the electric
motor 20, when part of the outboard motors 12 is inactivated and the associated electric
motor 20 is also inactivated, so that the ruder deflection is performed using the
rest of the electric motors 20.
[0060] As such, in the above watercraft, the outboard motor 12 is deflected by the electric
motor 20. Thus, it is advantageous that an operation feel of the steering wheel 17
can be lighter; however, in the case where the rudder is deflected overly for example,
a larger load is required when the rudder is returned than when the rudder is deflected.
Accordingly, output from the electric motor 20 may become less responsive, resulting
in a delayed response to a rudder deflecting operation. In this embodiment, however,
in accordance with the motor characteristics of the electric motor 20, a limit rudder
deflection angle is made smaller to thereby prevent exceeding the limit of the motor
characteristics of the electric motor even when the rudder is returned.
[0061] As a result, the rudder deflection range is limited, and thus the outboard motor
12 is deflected within the range of the output of the electric motor 20 even when
the rudder is returned. This prevents a delayed response to a rudder deflecting operation.
[0062] More specifically, as shown in FIG. 6(b), as a running status or an electric motor
status, e.g., a watercraft speed, a trim angle, the weight, an acceleration, a deceleration,
or a propulsive force, increases, the relationship between rudder deflection angles
and rudder deflection forces will change from the characteristics shown by solid line
in FIG. 6(b) to the characteristics as shown in broken line in the figure. Accordingly,
when a rudder deflection angle is the same as that in position a1 of the characteristics
shown in solid line, a rudder deflection force increases as that in position a2 of
the characteristics shown in broken line. When a rudder deflection force is the same
as that in position a1 of the characteristics shown in solid line, a rudder deflection
angle decreases as that in position a3 of the characteristics shown in broken line.
[0063] As a rudder deflection force or the like increases in this way, when a limit rudder
deflection angle is large, the motor characteristics may fall outside of ability characteristic
line C of the electric motor 20 as position b1 shown in characteristic line B1 in
FIG. 6(a), which illustrates the relationship between rudder deflection forces and
rudder deflection speeds. In such case, when a limit rudder deflection angle is made
smaller according to the present invention, thereby changing the motor characteristics
as shown by characteristic line B2, a rudder deflection force decreases as shown in
position b2 while the same rudder deflection speed as in position b1 is kept. As a
result, the motor characteristics falls within the range of ability characteristic
line C. Accordingly, the outboard motor 12 can be deflected within the range of output
of the electric motor 20, and thus no delayed response occurs during a rudder deflecting
operation.
[0064] Optionally, the ECU 33 can include reaction motor control means 43 for controlling
output of the reaction motor 29, so that when the rudder nearly achieves a limit rudder
defection angle, output of the reaction motor 29 is increased based on a signal from
the reaction motor control means 43 to increase a reaction force to the steering wheel
17.
[0065] This provides to the operator a response corresponding to a rudder deflection load
directly through the steering wheel 17, thereby preventing operating overly beyond
a limit rudder deflection angle.
[0066] It is a matter of course that while in the foregoing embodiment, the outboard motor
12 is used as the "watercraft propulsion unit," the present teaching is not limited
to this, but it may be replaced by an inboard-outdrive engine. Further, the foregoing
embodiment includes the operation status detection means 38, the running status detection
means 39, the outboard motor status recognition means 40 and the electric motor status
detection means 41. However, it is only required that at least one of those means
is provided.
[0067] The description above discloses (amongst others) in order to achieve the foregoing
problem, a preferred first aspect which provides a steering device for a watercraft,
including: a watercraft propulsion unit at a stern of the watercraft; a steering device
including an electric actuator for actuating the steering device, the steering device
changing a direction in which the watercraft travels; a steering wheel, operable by
an operator, electrically connected to the electric actuator to provide an actuation
signal corresponding to the amount of a steering wheel operation to the electric actuator;
and control means for controlling a limit of the rudder deflection angle, the control
means including: at least one of operation status detection means for detecting an
operation status corresponding to the steering wheel operation, running status detection
means for detecting a running status of the watercraft, watercraft propulsion unit
status recognition means for recognizing a status of the watercraft propulsion unit,
such as the installation number thereof, and electric actuator status detection means
for detecting a status of the electric actuator; and rudder deflection angle control
means for controlling a limit rudder deflection angle based on the detection value
from the at least one of the means.
[0068] Further, a preferred second aspect provides the steering device for a watercraft
in accordance with the first aspect, in which the operation status detection means
includes at least one of rudder deflection force detection means for detecting a rudder
deflection force required for rudder deflection, load detection means for detecting
a load to the rudder, steering operation detection means for detecting a direction
in which the rudder is deflected, corresponding to a direction in which the steering
wheel is operated and/or the steering wheel operation, and deviation detection means
for detecting a deviation of a detected actual rudder deflection angle from a target
rudder deflection angle corresponding to the steering wheel operation.
[0069] Further, a preferred third aspect provides the steering device for a watercraft in
accordance with the first or second aspect, in which the running status detection
means includes at least one of weight detection means for detecting at least one of
a position of a waterline and a weight of the watercraft, trim angle detection means
for detecting a trim angle of the watercraft, and speed detection means for detecting
at least one of a speed, an acceleration and a propulsive force of the watercraft,
and an output of the watercraft propulsion unit.
[0070] Further, a preferred fourth aspect provides the steering device for a watercraft
in accordance with any one of the first to third aspects, in which the watercraft
propulsion unit status recognition means includes operation storage means for storing
therein any one of pieces of information on the installation number of the watercraft
propulsion unit, an installation position of the watercraft propulsion unit relative
to the watercraft, a rotational direction of a propeller of the watercraft propulsion
unit, a propeller shape, a tab trim angle and a tab trim shape.
[0071] Further, a preferred fifth aspect provides the steering device for a watercraft in
accordance with any one of the first to fourth aspects, in which the electric actuator
status detection means includes temperature detection means for detecting a temperature
of the electric actuator.
[0072] Further, a preferred sixth aspect provides the steering device for a watercraft in
accordance with any one of the first to fifth aspects, in which the electric actuator
status detection means includes operating number detection means for detecting the
number of the electric actuator in operation.
[0073] Further, a preferred seventh aspect provides the steering device for a watercraft
in accordance with any one of the first to sixth aspects, further including: a reaction
motor for applying a reaction force to the steering wheel; and reaction motor control
means for increasing a reaction force to the reaction motor as the rudder nearly achieves
the limit rudder deflection angle.
[0074] Further, a preferred eighth aspect provides a watercraft provided with the steering
device for a watercraft in accordance with any one of the first to seventh aspects.
[0075] In accordance with the above aspects of the present teaching, control means includes
at least one of operation status detection means for detecting an operation status
corresponding to the steering wheel operation, running status detection means for
detecting a running status of the watercraft, watercraft propulsion unit status recognition
means for recognizing a status of the watercraft propulsion unit, such as the installation
number thereof, and electric actuator status detection means for detecting a status
of the electric actuator. The control means also includes rudder deflection angle
control means for controlling a limit rudder deflection angle based on the detection
value from the at least one of the means. Therefore, the present invention can provide
a watercraft steering device and a watercraft which provide an operator with invariably
excellent efficiency and an excellent operation feel during rudder deflection, depending
on a running status of the watercraft.
[0076] The description above, thus, discloses according to a preferred first aspect, a steering
device for a watercraft, comprising: a watercraft propulsion unit at a stern of the
watercraft; a steering device including an electric actuator for actuating the steering
device, the steering device changing a direction in which the watercraft travels;
a steering wheel, operable by an operator, electrically connected to the electric
actuator to provide an actuation signal corresponding to the amount of a steering
wheel operation to the electric actuator; and control means for controlling a limit
of the rudder deflection angle, the control means including: at least one of operation
status detection means for detecting an operation status corresponding to the steering
wheel operation, running status detection means for detecting a running status of
the watercraft, watercraft propulsion unit status recognition means for recognizing
a status of the watercraft propulsion unit, such as the installation number thereof,
and electric actuator status detection means for detecting a status of the electric
actuator; and rudder deflection angle control means for controlling a limit rudder
deflection angle based on the detection value from the at least one of the means.
[0077] Further, according to a preferred second aspect, the operation status detection means
includes at least one of rudder deflection force detection means for detecting a rudder
deflection force required for rudder deflection, load detection means for detecting
a load to the rudder, steering operation detection means for detecting a direction
in which the rudder is deflected, corresponding to a direction in which the steering
wheel is operated and/or the steering wheel operation, and deviation detection means
for detecting a deviation of a detected actual rudder deflection angle from a target
rudder deflection angle corresponding to the steering wheel operation.
[0078] Further, according to a preferred third aspect, the running status detection means
includes at least one of weight detection means for detecting at least one of a position
of a waterline and a weight of the watercraft, trim angle detection means for detecting
a trim angle of the watercraft, and speed detection means for detecting at least one
of a speed, an acceleration, a deceleration and a propulsive force of the watercraft,
and an output of the watercraft propulsion unit.
[0079] Further, according to a preferred fourth aspect, the watercraft propulsion unit status
recognition means includes operation storage means for storing therein any one of
pieces of information on the installation number of the watercraft propulsion unit,
an installation position of the watercraft propulsion unit relative to the watercraft,
a rotational direction of a propeller of the watercraft propulsion unit, a propeller
shape, a tab trim angle and a tab trim shape.
[0080] Further, according to a preferred fifth aspect, the electric actuator status detection
means includes temperature detection means for detecting a temperature of the electric
actuator.
[0081] Further, according to a preferred sixth aspect, the electric actuator status detection
means includes operating number detection means for detecting the number of the electric
actuator in operation.
[0082] Further, according to a preferred seventh aspect, the steering device for a watercraft
further comprises: a reaction motor for applying a reaction force to the steering
wheel; and reaction motor control means for increasing a reaction force to the reaction
motor as the rudder nearly achieves the limit rudder deflection angle.
[0083] There is further disclosed a watercraft provided with the steering device for a watercraft
according to any one of the first to seventh aspects.
[0084] The description still further discloses, in order to provide a watercraft which provides
an operator with invariably excellent efficiency and an excellent operation feel during
rudder deflection, depending on a running status of the watercraft, an embodiment
of a watercraft steering device which includes an ECU 33 for controlling a limit of
a rudder deflection angle. Therein, the ECU 33 includes at least one of operation
status detection means for detecting an operation status corresponding to a steering
wheel operation, running status detection means for detecting a running status of
the watercraft, outboard motor status recognition means for recognizing a status of
an outboard motor 11, such as the installation number thereof, and electric motor
status detection means for detecting a status of an electric motor. Further, the ECU
also includes rudder deflection angle control means for controlling a limit rudder
deflection angle based on the detection value from the at least one of the means.
1. Steering system for a watercraft, comprising:
a rudder (12);
a steering device (16) including an actuator configured to change a direction in which
the watercraft travels;
a steering amount input means, operable by an operator, electrically connected to
the actuator to provide an actuation signal corresponding to the amount of a steering
operation to the actuator; and
control means for controlling a limit of a rudder deflection angle,
the control means including at least one of operation status detection means (38)
for detecting an operation status corresponding to the steering operation, running
status detection means (39) for detecting a running status of the watercraft, watercraft
propulsion unit status recognition means (40) for recognizing a status of a watercraft
propulsion unit of the watercraft, such as the installation number thereof, and actuator
status detection means (41) for detecting a status of the actuator; and a rudder deflection
angle control means (42), characterized in that
the rudder deflection angle control means (42) is capable of controlling a limit rudder
deflection angle based on the detection value from the at least one of the detection
and recognition means (38, 39, 40, 41),
2. Steering system according to claim 1, wherein the watercraft propulsion unit, in particular
arranged at a stem of the watercraft, is used as the rudder (12).
3. Steering system according to claim 1 or 2, wherein the actuator configured to change
a direction in which the watercraft travels is an electric actuator.
4. Steering system according to one of the claims 1 to 3, wherein the operation status
detection means (38) includes at least one of rudder deflection force detection means
for detecting a rudder deflection force required for rudder deflection, load detection
means (44) for detecting a load to the rudder, steering operation detection means
(47) for detecting a direction in which the rudder is deflected, corresponding to
a direction in which the steering wheel (17) is operated and/or the steering wheel
operation, and deviation detection means (49) for detecting a deviation of a detected
actual rudder deflection angle from a target rudder deflection angle corresponding
to the steering wheel operation.
5. Steering system according to one of the claims 1 to 4, wherein the running status
detection means (39) includes at least one of weight detection means (48) for detecting
at least one of a position of a waterline and a weight of the watercraft, trim angle
detection means (49) for detecting a trim angle of the watercraft, and speed detection
means (50) for detecting at least one of a speed, an acceleration, a deceleration
and a propulsive force of the watercraft, and an output of the watercraft propulsion
unit.
6. Steering system according to one of the claims 1 to 5, wherein the watercraft propulsion
unit status recognition means includes operation storage means (51) for storing therein
any one of pieces of information on the installation number of the watercraft propulsion
unit (12), an installation position of the watercraft propulsion unit (12) relative
to the watercraft, a rotational direction of a propeller of the watercraft propulsion
unit (12), a propeller shape, a tab trim angle and a tab trim shape.
7. Steering system according to one of the claims 1 to 6, wherein the actuator status
detection means is an electric actuator status detection means (41), which includes
temperature detection means for detecting a temperature of the electric actuator.
8. Steering system according to one of the claims 1 to 7, wherein the actuator status
detection means is an electric actuator status detection means (41) includes operating
number detection means for detecting the number of the electric actuator in operation.
9. Steering system according to one of the claims 1 to 8, further comprising: a reaction
motor for applying a reaction force to the steering wheel (17); and reaction motor
control means (41) for increasing a reaction force to the reaction motor as the rudder
nearly achieves the limit rudder deflection angle.
10. Steering system according to one of the claims 1 to 9, wherein the steering amount
input means is a steering wheel or a control lever, operable by an operator, electrically
connected to the electric actuator to provide an actuation signal corresponding to
the amount of a steering input operation to the electric actuator.
11. Steering system according to one of the claims 1 to 10, further including an electronic
control unit (ECU) for controlling a limit of a steering means deflection angle, the
ECU (33) including at least one of operation status detection means (38) for detecting
an operation status corresponding to a steering amount input means operation, running
status detection means (39) for detecting a running status of the watercraft, outboard
motor status recognition means (40) for recognizing a status of an outboard motor
(11), such as the installation number thereof, and electric motor status detection
means (41) for detecting a status of an electric motor, and the ECU (33) also including
steering means deflection angle control means for controlling a limit steering means
deflection angle based on the detection value from the at least one of the means.
12. Watercraft provided with a steering system for a watercraft according to one of the
claims 1 to 10.
1. Lenksystem für ein Wasserfahrzeug, aufweisend:
ein Steuerruder (12);
eine Lenkvorrichtung (16), die einen Betätiger enthält, konfiguriert, eine Richtung,
in das Wasserfahrtzeug fährt, zu verändern;
eine Lenkgröße- Eingabeeinrichtung, betägtigbar durch einen Betätiger, elektrisch
mit dem Betätiger verbunden, um ein Betätigungssignal entsprechend der Größe eines
Lenkvorganges an den Betätiger zu geben; und
eine Steuereinrichtung zum Steuern einer Grenze eines Steuerruder- Auslenkwinkels,
wobei die Steuereinrichtung zumindest eines enthält von Betätigungsstatus- Erfassungseinrichtung
(38) zum Erfassen eines Betätigungsstatus entsprechend des Lenkbetriebes, eine Fahrstatus-
Erfassungseinrichtung (39) zum Erfassen eines Fahrstatus des Wasserfahrzeuges, eine
Wasserfahrzeug- Antriebseinheitseinheit- Status- Erkennungseinrichtung (40) zum Erkennen
eines Status einer Wasserfahrzeug- Antriebseinheitseinheit des Wasserfahrzeuges, wie
die Installationsanzahl derselben, und eine Betätigerstatus- Erfassungseinrichtung
(41) zum Erfassen eines Status des Betätigers, und eine Steuerruder- Auslenkungswinkel-Steuerungseinrichtung
(42), dadurch gekennzeichnet, dass die Steuerruder- Auslenkungswinkel- Steuerungseinrichtung (42) in der Lage ist,
einen Grenz- Steuerruder- Auslenkungswinkel auf der Grundlage des Erfassungswertes
von zumindest einer der Erfassungs- oder Erkennungseinrichtung (38, 39, 40, 41) zu
steuern.
2. Lenksystem nach Anspruch 1, wobei die Wasserfahrzeug- Antriebseinheit, insbesondere
angeordnet in einem Heck des Wasserfahrzeuges, als das Steuerruder (12) verwendet
wird.
3. Lenksystem nach Anspruch 1 oder 2, wobei der Betätiger, konfiguriert eine Richtung,
in der das Wasserfahrzeug fährt, zu verändern, ein elektrischer Betätiger ist.
4. Lenksystem nach einem der Ansprüche 1 bis 3, wobei die Betätigungsstatus- Erfassungseinrichtung
(38) zumindest eines enthält von Steuerruder- Auslenkungskraft- Erfassungseinrichtung
zum Erfassen einer Steuerruder- Auslenkungskraft, erforderlich für die Steuerruderauslenkung,
Last- Erfassungseinrichtung (44) zum Erfassen einer Last auf das Steuerruder, Lastbetätigungs-
Erfassungseinrichtung (47) zum Erfassen einer Richtung, in die das Steuerruder entsprechend
einer Richtung ausgelenkt ist, in die das Steuerrad (17) und / oder die Steuerradbetätigung
betätigt ist, und eine Abweichungs- Erfassungseinrichtung (49) zum Erfassen einer
Abweichung eines erfassten tatsächlichen Steuerruder- Auslenkungswinkels von einem
Ziel- Steuerruder- Auslenkungswinkel entsprechend der Steuerradbetätigung.
5. Lenksystem nach einem der Ansprüche 1 bis 4, wobei die Fahrstatus- Erfassungseinrichtung
(39) zumindest eine enthält von Gewichtserfassungseinrichtung (48) zum Erfassen von
zumindest eines von Position einer Wasserlinie oder Gewicht des Wasserfahrzeuges,
Trimmwinkel- Erfassungseinrichtung (49) zum Erfassen eines Trimmwinkels des Wasserfahrzeuges,
oder Geschwindigkeits- Erfassungseinrichtung (50) zum Erfassen von zumindest eines
von einer Geschwindigkeit, einer Beschleunigung, einer Verlangsamung, oder einer Vortriebskraft
des Wasserfahrzeuges oder einer Ausgangsleistung der Wasserfahrzeug-Antriebseinheit.
6. Lenksystem nach einem der Ansprüche 1 bis 5, wobei die Wasserfahrzeug- Antriebseinheit-
Status- Erkennungseinrichtung eine Betriebsspeichereinrichtung (51) zum darin Speichern
aller Informationen über die Installationsnummer der Wasserfahrzeug- Antriebseinheit
(12), einer Installationsposition der Wasserfahrzeug- Antriebseinheit (12) in Bezug
auf das Wasserfahrzeug, einer Drehrichtung einer Schraube des Wasserfahrzeug- Antriebseinheit
(12), einer Schraubenform, eines Trimmklappenwinkels oder einer Trimmklappenform enthält.
7. Lenksystem nach einem der Ansprüche 1 bis 6, wobei die Betätigerstatus- Erfassungseinrichtung
eine elektrische Betätigerstatus- Erfassungseinrichtung (41) ist, die eine Temperatur-
Erfassungseinrichtung zum Erfassen einer Temperatur des elektrischen Betätigers enthält.
8. Lenksystem nach einem der Ansprüche 1 bis 7, wobei die Betätigerstatus- Erfassungseinrichtung
eine elektrische Betätigerstatus- Erfassungseinrichtung (41) ist, die eine Betriebsanzahl-
Erfassungseinrichtung zum Erfassen der Betriebsanzahl des elektrischen Betätigers
im Betrieb enthält.
9. Lenksystem nach einem der Ansprüche 1 bis 8, außerdem aufweisend: einen Reaktionsmotor
zum Aufbringen einer Reaktionskraft auf das Steuerrad (17), eine Reaktionsmotor- Steuerungseinrichtung
(41) zum Verstärken einer Reaktionskraft auf den Reaktionsmotor, wenn das Steuerruder
den Steuerruder- Grenz- Auslenkungswinkel nahezu erreicht.
10. Lenksystem nach einem der Ansprüche 1 bis 9, wobei die Steuerungsgröße- Eingabeeinrichtung
ein Steuerrad oder ein Steuerungshebel ist, betätigbar durch einen Betätiger, elektrisch
verbunden mit dem elektrischen Betätiger, um ein Betätigungssignal entsprechend der
Größe eines Steuereingabebetriebes an den elektrischen Betätiger zu schaffen.
11. Lenksystem nach einem der Ansprüche 1 bis 10, enthaltend eine elektronische Steuerungseinheit
(ECU) zum Steuern einer Grenze eines Lenkeinrichtung- Auslenkungswinkels, wobei die
ECU zumindest eine enthält von Betätigungsstatus-Erfassungseinrichtung (38) zum Erfassen
eines Betätigungsstatus entsprechend einer Betätigung einer Lenkgrößen- Eingabeeinrichtung,
Fahrstatus- Erfassungseinrichtung (39) zum Erfassen eines Fahrstatus des Wasserfahrzeuges,
Außenbordmotorstaus- Erkennungseinrichtung (40) zum Erkennen eines Status des Außenbordmotors
(11), wie z. B. die Installationsanzahl desselben, und eine Elektromotor- Statuserfassungseinrichtung
(41) zum Erfassen eines Status eines Elektromotors und wobei die ECU (33) auch eine
Lenkeinrichtung- Auslenkungswinkel- Steuerungseinrichtung zum Steuern eines Lenkeinrichtung-
Grenzauslenkungswinkels auf der Grundlage des Erfassungswertes von zumindest einer
der Einrichtungen enthält.
12. Wasserfahrzeug, versehen mit einem Lenksystem für ein Wasserfahrzeug nach einem der
Ansprüche 1 bis 10.
1. Système de direction pour un bateau, comprenant :
un gouvernail (12) ;
un dispositif de direction (16) qui comporte un actionneur conçu pour changer une
direction dans laquelle le bateau se déplace ;
des moyens d'entrée de degré de direction qui sont aptes à être actionnés par un opérateur
et qui sont reliés électriquement à l'actionneur pour fournir à celui-ci un signal
d'actionnement correspondant au degré d'un actionnement de direction ; et
des moyens de commande pour commander une limite d'un angle de déviation de gouvernail,
les moyens de commande comprenant au moins des moyens de détection d'état d'actionnement
(38) pour détecter un état d'actionnement correspondant à l'actionnement de direction,
des moyens de détection d'état de circulation du bateau (39) pour détecter un état
de circulation du bateau, des moyens de reconnaissance d'état d'unité de propulsion
de bateau (40) pour reconnaître un état d'une unité de propulsion du bateau tel que
le numéro d'installation de celui-ci, et des moyens de détection d'état d'actionneur
(41) pour détecter un état de l'actionneur ; et des moyens de commande d'angle de
déviation de gouvernail (42), caractérisé en ce que les moyens de commande d'angle de déviation de gouvernail (42) sont aptes à commander
un angle de déviation de gouvernail limite sur la base de la valeur de détection provenant
desdits moyens de détection et de reconnaissance (38, 39, 40, 41).
2. Système de direction selon la revendication 1, étant précisé que l'unité de propulsion
de bateau, en particulier disposée à l'arrière du bateau, est utilisée comme gouvernail
(12).
3. Système de direction selon la revendication 1 ou 2, étant précisé que l'actionneur
conçu pour changer une direction dans laquelle le bateau se déplace est un actionneur
électrique.
4. Système de direction selon l'une des revendications 1 à 3, étant précisé que les moyens
de détection d'état d'actionnement (38) comprennent des moyens de détection de force
de déviation de gouvernail pour détecter une force de déviation de gouvernail nécessaire
à la déviation du gouvernail, et/ou des moyens de détection de charge (44) pour détecter
une charge sur le gouvernail, et/ou des moyens de détection d'actionnement de direction
(47) pour détecter une direction dans laquelle le gouvernail est dévié, suivant une
direction dans laquelle la roue de gouvernail (17) est actionnée et/ou suivant l'actionnement
de la roue de gouvernail, et/ou des moyens de détection d'écart (49) pour détecter
un écart entre un angle de déviation de gouvernail réel détecté et un angle de déviation
de gouvernail cible correspondant à l'actionnement de la roue de gouvernail.
5. Système de direction selon l'une des revendications 1 à 4, étant précisé que les moyens
de détection d'état de circulation (39) comprennent des moyens de détection de poids
(48) pour détecter une position d'une ligne de flottaison et/ou un poids du bateau,
et/ou des moyens de détection d'angle d'assiette (49) pour détecter un angle d'assiette
du bateau, et/ou des moyens de détection de vitesse (50) pour détecter une vitesse
et/ou une accélération et/ou une décélération et/ou une force de propulsion du bateau
et/ou une sortie de l'unité de propulsion de bateau.
6. Système de direction selon l'une des revendications 1 à 5, étant précisé que les moyens
de reconnaissance d'état d'unité de propulsion de bateau comprennent des moyens de
mémoire d'actionnement (51) pour mettre en mémoire n'importe quelle information sur
le numéro d'installation de l'unité de propulsion de bateau (12), sur une position
d'installation de l'unité de propulsion de bateau (12) par rapport au bateau, sur
un sens de rotation d'une hélice de l'unité de propulsion de bateau (12), sur une
forme d'hélice, sur un angle d'équilibreur à tab et sur une forme d'équilibreur à
tab.
7. Système de direction selon l'une des revendications 1 à 6, étant précisé que les moyens
de détection d'état d'actionneur sont constitués par des moyens de détection d'état
d'actionneur électrique (41) qui comprennent des moyens de détection de température
pour détecter une température de l'actionneur électrique.
8. Système de direction selon l'une des revendications 1 à 7, étant précisé que les moyens
de détection d'état d'actionneur sont constitués par des moyens de détection d'état
d'actionneur électrique (41) qui comprennent des moyens de détection de numéro pour
détecter le numéro de l'actionneur électrique en fonctionnement.
9. Système de direction selon l'une des revendications 1 à 8, comprenant également :
un moteur à réaction pour appliquer une force de réaction à la roue de gouvernail
(17) ; et des moyens de commande de moteur à réaction (41) pour augmenter une force
de réaction pour le moteur à réaction quand le gouvernail réalise quasiment l'angle
de déviation de gouvernail limite.
10. Système de direction selon l'une des revendications 1 à 9, étant précisé que les moyens
d'entrée de degré de direction sont constitués par une roue de gouvernail ou un levier
de commande, aptes à être actionnés par un opérateur, qui sont reliés électriquement
à l'actionneur électrique pour fournir à celui-ci un signal d'actionnement correspondant
au degré d'un actionnement d'entrée de direction.
11. Système de direction selon l'une des revendications 1 à 10, comprenant également une
unité de commande électronique (UCE) pour commander une limite d'angle de déviation
de moyens de direction, ladite unité de commande électronique (33) comprenant des
moyens de détection d'état d'actionnement (38) pour détecter un état d'actionnement
correspondant à un actionnement de moyens d'entrée de degré de direction, et/ou des
moyens de détection d'état de circulation (39) pour détecter un état de circulation
du bateau, et/ou des moyens de reconnaissance d'état de moteur hors-bord (40) pour
reconnaître un état d'un moteur hors-bord (11) tel que le numéro d'installation de
celui-ci, et/ou des moyens de détection d'état de moteur électrique (41) pour détecter
un état d'un moteur électrique, et l'unité de commande électronique (33) comprenant
également des moyens de commande d'angle de déviation de moyens de direction pour
commander un angle de déviation de moyens de direction limite sur la base de la valeur
de détection provenant de ces moyens.
12. Bateau pourvu d'un système de direction pour un bateau selon l'une des revendications
1 à 10.