Yamaha Hatsudoki Kabushiki Kaisha

Yamaha Marine Kabushiki Kaisha

Other

Hirotaka Kaji

Masashi Yamaguchi

Yukio Matsushita

Hiroshi Harada

Ichikai Kamihira

Isao Kanno

Mitsuhiro Ryuman

Takao Kawai

Masaru Suemori

A control apparatus controls a marine vessel propulsion system which is equipped with a propeller system to generate a propulsive force and a steering mechanism to determine a steering angle of the propeller system. The control apparatus includes a target propulsive force setting unit arranged to set a target propulsive force, and a propeller system control unit arranged to control an output of the propeller system such that the output is lower than the target propulsive force while the steering angle is being changed.

Control apparatus for marine vessel propulsion system, and marine vessel running supporting system and marine vessel using the same

A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes an operational unit, operated by an operator, arranged to control movement and turning of a marine vessel, a target value computing unit having a plurality of computing modes and arranged to compute target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism in accordance with an operational input from the operational unit, and a switching unit arranged to switch the computing modes of the target value computing unit.

Marine vessel maneuvering supporting apparatus and marine vessel including the same

A marine vessel maneuvering supporting apparatus is used in a marine vessel which includes a propulsion system and a steering mechanism. The marine vessel maneuvering supporting apparatus includes a first operational unit arranged select a forward drive position for forward drive of the propulsion system, a reverse drive position for reverse drive of the propulsion system, and a neutral position for an inactive state of the propulsion system, a second operational unit arranged to command rightward and leftward movement of the marine vessel, and a target value computing unit arranged to determine target values including a target propulsive force for the propulsion system and a target steering angle for the steering mechanism, such that the marine vessel undergoes parallel movement in a direction that is in accordance with an operation position of the first operational unit when rightward or leftward movement is commanded by the second operational unit.

A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit arranged to generate a propulsive force to be applied to a hull of the marine vessel, and a steering unit arranged to turn the hull. The marine vessel running controlling apparatus includes an operational unit to be operated by an operator of the marine vessel to control a steering angle of the steering unit, and a control unit arranged to update control information related to the steering angle of the steering unit with respect to an operation amount of the operational unit based on data acquired during travel of the marine vessel.

Marine vessel running controlling apparatus, and marine vessel including the same

A boat propulsion system includes a control section, a thrust calculation section, a thrust generating unit, a thrust detection section, and a control section. An operating amount is input to the control lever by operation of an operator. An accelerator detector detects the input operating amount of the control lever. The thrust calculation section calculates a thrust intended to be generated from the operating amount of the control lever to output a calculated thrust. The thrust generating unit generates a thrust. The thrust detection section detects a thrust actually generated on the thrust generating unit to output it as an actual thrust. The control section controls an output of the thrust generating unit so that the actual thrust approaches the calculated thrust.

Boat propulsion system and boat including the same and boat control device and boat control method

A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit, a steering unit, and an operational unit to control a steering angle. The marine vessel running controlling apparatus includes a target characteristic storage unit arranged to store a target characteristic line which represents a target marine vessel maneuvering characteristic defining a relationship between a target turning behavior with respect to an operation amount of the operational unit and a traveling speed of the marine vessel, a target characteristic change inputting unit arranged to change a shape of the target characteristic line, and a target characteristic line updating unit arranged to update the target characteristic line according to an input from the target characteristic change inputting unit. The target characteristic change inputting unit includes an inflection point position change inputting unit arranged to change a position of an inflection point of the target characteristic line.

A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit having an engine with an electric throttle as a drive source for generating a propulsive force to propel a hull of the marine vessel. The marine vessel running controlling apparatus includes an operational unit to be operated by an operator of the marine vessel for controlling the propulsive force, and a control unit arranged to acquire a normal data sample by eliminating an abnormal data sample from actual data acquired during travel of the marine vessel and update control information related to an opening degree of the electric throttle with respect to an operation amount of the operational unit based on the normal data sample.

A marine vessel running controlling apparatus includes a steering angle acquiring unit which acquires the steering angle of a steering mechanism provided in a marine vessel, and a control unit which controls a lift force difference generating unit for generating a lift force difference between a port side and a starboard side of the marine vessel according to the steering angle acquired by the steering angle acquiring unit. The control unit may control the lift force difference generating unit to increase the heel angle of the marine vessel in a direction defined by the steering angle, if the steering angle falls outside a neutral range.

Marine vessel running controlling apparatus, and marine vessel employing the same

The control apparatus controls an outboard motor having a propeller and an engine that rotates the propeller and discharges exhaust gas in water. The control apparatus includes a judgment unit arranged to determine a reduction in the propulsive force of the outboard motor due to in-water exhaust of the engine, and a control unit arranged to control the engine such that, when the judgment unit determines that a reduction in the propulsive force occurs, the output of the engine is increased as compared to when the judgment unit determines that a reduction in the propulsive force does not occur.

Control apparatus for outboard motor, and marine vessel running support system and marine vessel using the same

A hybrid type outdoor motor includes a propeller, an electric motor that generates a drive force to rotate the propeller, and an engine that generates a drive force to rotate the propeller. The engine discharges exhaust gas in water. A control apparatus that controls the hybrid type outboard motor includes a speed instruction unit arranged to generate a speed instruction value indicative of the rotational speed of the propeller, and a control unit arranged to change from a first mode, in which only the drive force of the electric motor is transmitted to the propeller, to the second mode, in which the drive force of the engine is transmitted to the propeller. The control unit changes from the first to second modes depending on a rotation direction of the propeller and the speed instruction value generated by the speed instruction unit.

Control apparatus for hybrid type outboard motor, marine vessel running support system and marine vessel using the same

A multiobjective evolutionary algorithm unit feeds a set of parameters of an individual to a search history storage device in a fitness estimating unit and to an optimization target. The optimization target outputs a set of sampled values of fitnesses on the basis of the set of parameters of the individual. The search history storage device stores the set of parameters of the individual and a set of sampled values as a search history. The fitness estimating module computes a set of estimated values of true fitnesses on the basis of the search history stored in the search history storage device for output to the multiobjective evolutionary algorithm unit. The multiobjective evolutionary algorithm unit determines a Pareto-optimal population in accordance with a genetic algorithm on the basis of a plurality of sets of estimated values.

Multiobjective optimization apparatus, multiobjective optimization method and multiobjective optimization program

An apparatus for supporting docking of a marine vessel includes a distance measuring unit which measures a distance between the marine vessel and a candidate docking site, a distance measurement controlling unit which controls the distance measuring unit to measure distances between the marine vessel and at least three measurement points defined around the candidate docking site, a configuration evaluating unit which evaluates the configuration of the candidate docking site based on the distances between the marine vessel and the at least three measurement points, and a docking suitability judging unit which judges, based on the result of the evaluation, whether or not the candidate docking site is suitable for docking of the marine vessel.

Docking supporting apparatus, and marine vessel including the apparatus

An attitude angle control apparatus, an attitude angle control method, and an attitude angle control apparatus control program select an optimum attitude angle in a short period of time without being affected by disturbances at sea by measuring attitude angles and specific fuel consumption during navigation for any combination of a hull and propeller, create a statistical model based on the measured data, and select an optimum attitude angle on the statistical model. A marine vessel navigation control apparatus includes a constant-speed navigation controller and a trim angle controller. The trim angle controller includes an evaluated-value calculation module which calculates evaluated values of the trim angle, a storage medium, a statistical model creation module which creates statistical models using the evaluated values stored in the storage medium as an explained variable, and predetermined information including the trim angle as an explanatory variable, and a target trim angle calculation module which calculates a target trim angle based on the statistical model.

Attitude angle control apparatus, attitude angle control method, attitude angle control apparatus control program, and marine vessel navigation control apparatus

A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit having an engine with an electric throttle. The apparatus includes a target characteristic storage unit which stores a target characteristic curve defining a target characteristic for an operation amount-engine speed characteristic, a target characteristic change inputting unit to be operated by an operator to change the shape of the target characteristic curve, and a target characteristic curve updating unit. The target characteristic change inputting unit includes an inflection point position change inputting unit and a curve shape change inputting unit to be operated by the operator.

A marine vessel running controlling apparatus is applicable to a marine vessel which includes a propulsive force generating unit having an engine with an electric throttle as a drive source for generating a propulsive force to propel a hull of the marine vessel. The apparatus includes an operational unit to be operated by an operator of the marine vessel so as to control the propulsive force, and a control unit which updates control information related to an opening degree of the electric throttle with respect to an operation amount of the operational unit based on a marine vessel traveling result.

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Shizuoka, Japan

Hirotaka Kaji