System for and method of controlling behavior of watercraft

Patent metadata

Field	Value
Publication number	US-12147246-B2
Application number	US-202217885600-A
Country	US
Kind code	B2
Filing date	Aug 11, 2022
Priority date	Sep 6, 2021
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

A controller is configured or programmed to obtain at least either of a pitch angle of a watercraft and an angular velocity of the pitch angle, obtain a present thrust of an outboard motor, and set a target thrust of the outboard motor based on the present thrust of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle. The controller is configured or programmed to control a drive source such that a thrust of the outboard motor becomes the target thrust.

First claim

What is claimed is:

1. A system for controlling a behavior of a watercraft, the system comprising:
an outboard motor attachable to the watercraft and including a propeller shaft and a drive source to drive the propeller shaft;
a pitch angle sensor to detect at least either of a pitch angle of the watercraft and an angular velocity of the pitch angle; and
a controller configured or programmed to:
control the drive source such that a thrust of the outboard motor varies;
obtain the at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle;
obtain a present thrust of the outboard motor;
set a target thrust of the outboard motor based on the present thrust of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle; and
control the drive source such that the thrust of the outboard motor becomes the target thrust.

2. The system according to claim 1 , wherein the controller is configured or programmed to set the target thrust to inhibit a pitch directional motion of a bow of the watercraft.

3. A method of controlling a behavior of a watercraft including an outboard motor including a propeller shaft and a drive source to drive the propeller shaft, the method comprising:
obtaining at least either of a pitch angle of the watercraft and an angular velocity of the pitch angle;
obtaining a present thrust of the outboard motor;
setting a target thrust of the outboard motor based on the present thrust of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle; and
controlling the drive source such that the thrust of the outboard motor becomes the target thrust.

4. The method according to claim 3 , wherein the target thrust is set to inhibit a pitch directional motion of a bow of the watercraft.

5. A system for controlling a behavior of a watercraft, the system comprising:
a marine propulsion device attachable to the watercraft and including a propeller shaft and a drive source to drive the propeller shaft;
a pitch angle sensor to detect at least either of a pitch angle of the watercraft and an angular velocity of the pitch angle; and
a controller configured or programmed to:
control the drive source such that a thrust of the marine propulsion device varies;
obtain at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle;
obtain a present thrust of the marine propulsion device;
set a target thrust of the marine propulsion device based on the present thrust of the marine propulsion device and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle; and
control the drive source such that the thrust of the marine propulsion device becomes the target thrust.

6. A watercraft comprising:
the system according to claim 5 .

Assignees

• Yamaha Motor Co Ltd

Inventors

• Hamada Satoru
• Saito Ryosuke

Classifications

• G05D1/49

  Control of attitude, i.e. control of roll, pitch or yaw · CPC title

• B63B79/40

  for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules · CPC title

• B63B79/10

  using sensors, e.g. pressure sensors, strain gauges or accelerometers · CPC title

• B63H25/42

  Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers · CPC title

• G05D1/0875 Primary

  specially adapted to water vehicles · CPC title