Mitsubishi Electric Corporation

Mitsubishi Electric Cornoration

Ryo Sakaguchi

Naoki Imamura

Yasuhiko Ishida

Takuya Ishioka

Toru Ikegame

Daisuke Suzuki

Hideki Umemoto

Hiroyuki Ono

Makoto Itoi

Naoyuki Fujiyama

Takeshi Koda

Norihiko Mouri

Manabu Goho

Vessel azimuth control apparatus and azimuth control method

The objective is to obtain an azimuth control apparatus and an azimuth control method that require no excessive memory capacity and calculation time for information processing and can cope with a disturbance by adaptively adjusting a control gain while calculating changing vessel parameters online. The vessel azimuth control apparatus has an azimuth control unit that outputs a steering-angle command signal for making a vessel turn to an azimuth to which the vessel should travel, based on an azimuth command signal generated by an azimuth command generation unit, a yaw-angle signal, and a yaw-angular-velocity signal, a steering-angle control unit that controls a rudder based on the steering-angle command signal, and a control gain adjustment unit that calculates respective frequency responses of the yaw-angle signal and the yaw-angular-velocity signal to a steering-angle signal outputted by a steering-angle detection unit and then adjusts a control gain of the azimuth control unit.

In a conventional vessel anti-rolling apparatus, because a large memory capacity and a high-speed high-function computing processing unit are required, the cost of the vessel anti-rolling apparatus is caused to rise. A vessel anti-rolling control apparatus and an anti-rolling control method according to the present disclosure includes

Vessel anti-rolling control apparatus and anti-rolling control method

To provide a docking support device of a marine vessel, which is capable of improving the accuracy in the distance measurement of a docking object, and can determine whether docking at the docking object is achievable or not, by detecting an obstacle which lies in the surrounding area of an own marine vessel. A docking support device of a marine vessel includes a LiDAR with the use of a laser, a short range body detection sensor, a docking object detector detecting a docking object based on an output signal of the LiDAR, an obstacle detector detecting an obstacle based on an output signal of the short range body detection sensor, and a docking determination calculator determining whether docking at the docking object is achievable or not, based on a determination result of the docking object and a detection result of the obstacle, and outputs a determination result.

Docking support device of marine vessel

A vessel-azimuth control apparatus is configured in such a way that an azimuth controller generates and outputs an angular velocity command, based on an azimuth command from an azimuth command generator and an actual azimuth, in such a way that an angular velocity controller generates and outputs a steering angle command, based on the angular velocity command, a vessel speed, and an actual angular velocity, and in such a way that a vibration suppression controller outputs a final steering angle command, based on the steering angle command.

Vessel-azimuth control apparatus and azimuth controlling method

An object is to obtain a heading control device and a heading control method for ship in which a heading control system is configured on the basis of ship motion information, without promoting oscillation excited by disturbance factors to the ship, such as tidal current or wind. The heading control device for ship, which causes a ship provided with an outboard motor to sail at a desired heading, includes: a heading generator which outputs a heading command; and a controller which outputs a rudder angle command on the basis of the heading command from the heading generator, sensor group information from a sensor group, and ship motion characteristic information from a ship motion characteristic information storage unit.

Heading control device and heading control method for ship

To provide a motion control device for a ship, which does not require adjustment of weights of an performance function, and is less liable to fail in control calculation by building optimization calculation only into a part of classical feedback control, the motion control device, which is configured to cause a ship, on which a plurality of outboard engines are installed, to cruise along a desired trajectory, includes: a trajectory generator configured to output a trajectory command; a controller configured to output a control force command based on the trajectory command and a sensor information group output from a sensor group provided for the ship; and a control force distributor configured to carry out, based on the control force command, optimization calculation for operation amounts required for the plurality of outboard engines in accordance with a constraint condition set in advance so as to output the operation amounts.

Motion control device and motion control method for ship

There is provided an internal combustion engine ignition apparatus that can effectively raise the ignitability of an inflammable fuel-air mixture, by applying electric power corresponding to the combustion state of an internal combustion engine. A combustion state detection apparatus detects an combustion state inside a combustion chamber of the internal combustion engine; based on the combustion state detected by the combustion state detection apparatus in accordance with an operation state of an ignition coil apparatus, a current supply apparatus supplies an AC current to a spark discharge path formed in the gap of an ignition plug; then, a control apparatus controls the output of the current supply apparatus.

Internal combustion engine ignition apparatus

When an accelerator operation amount is 0, a throttle actuator is controlled by means of isochronous control by using a second throttle operation amount (&#x3b8;tps) for the isochronous control, and, on the other hand, when the accelerator operation amount is not 0, the throttle actuator is controlled by means of droop control by using a first throttle operation amount (&#x3b8;tps) for the droop control. When an engine rotation speed is equal to or lower than a LOW rotation speed, larger one of the first and second throttle operation amounts (&#x3b8;tpsand &#x3b8;tps) is used, and when the engine rotation speed is equal to or higher than a HIGH rotation speed, smaller one of the first and second throttle operation amounts (&#x3b8;tpsand &#x3b8;tps) is used, to thereby control the throttle actuator by means of the isochronous control.

Engine control apparatus and engine control method

A general purpose engine control apparatus can detect misfire occurrence with high accuracy, while reducing adaptation man hours of misfire determination. The apparatus includes a first air/fuel ratio determiner to make a rich/lean determination, an injection amount corrector to calculate a corrected injection amount corresponding to a stoichiometric air/fuel ratio, an injection controller to supply fuel to the engine so as to match the corrected injection amount, a second air/fuel ratio determiner to make a rich/lean determination based on a comparison of the O2 sensor output with a rich and a lean determination voltage, a rich/lean period calculator to calculate a rich/lean period according to the determination of the second air/fuel ratio determiner, and a misfire determiner to determine the presence or absence of a misfire based on the rich/lean period. The injection controller stops fuel injection to the engine in the presence of a misfire.

Control apparatus for general purpose engine

Provided is an rpm control device for a general-purpose engine, which is capable of realizing droop control in a spark-ignition engine only by the adaptation of isochronous control. When the droop control is selected, a rotation decrease rate (K) (value equal to or smaller than 1) is obtained from an engine rpm and a load. The result of multiplication of a basic target rpm (Nb) requested by a driver by the rotation decrease rate (K) is obtained as a target rpm (No). By setting the rotation decrease rate to a smaller value as the load becomes higher, the target rpm (No) is set smaller than the basic target rpm (Nb). The isochronous control is performed by using an electronic throttle so as to achieve the obtained target rpm (No) to realize the droop control in a pseudo-manner.

Rpm control device and rpm control method for a general-purpose engine

An electronic control apparatus for driving a boat capable of safely and positively steering the boat to move forward and backward, including: a steering mechanism; a shift actuator for switching neutral, forward, backward; a throttle actuator for driving a throttle valve; and an electronic control unit connected to the steering mechanism, the shift actuator and the throttle actuator, for calculating a movement command value and an output command value for controlling the shift actuator and the throttle actuator, respectively, based on a steering position signal from the steering mechanism, and for controlling the shift actuator and the throttle actuator according to the movement command value, the output command value, feedback signals indicating control states, the electronic control section restrains the output command value until a shift operation of the shift actuator is completed, when the movement command value has been generated for shifting the shift actuator to forward or backward.

Electronic control apparatus for driving a boat

A rotation-position detection system according to the present invention is configured with a resolver mounted in a brushless motor and a motor controller. The motor controller outputs an excitation signal to the resolver and an A/D converter thereof alternately applies analogue/digital conversion to a sine wave signal and a cosine wave signal outputted from the resolver so that a rotation position of the motor is calculated.

Brushless motor rotation-position detection system

A steering system includes: a steering wheel; a steering wheel sensor configured to detect an operation angle of the steering wheel; an actuator configured to turn an outboard engine; a plurality of turn angle sensors including a first turn angle sensor configured to detect a turn angle; and a control unit configured to calculate a controlling turn angle, and to drive the actuator to turn the outboard engine in accordance with a difference between the controlling turn angle and the turn angle. If an anomaly of the first turn angle sensor is detected, the control unit continues to drive the actuator based on information from a second turn angle sensor in a normal state, and drives the actuator so as to limit the turn angle of the outboard engine as compared with a case in which the first turn angle sensor is in a normal state.

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Tokyo, Japan

Ryo Sakaguchi