| 摘要 |
PROBLEM TO BE SOLVED: To prevent a rider from feeling a sense of incongruity, even when only one of a steering wheel and a steering device moves in a power supply OFF state, and even when a steering wheel rotational angle of a plurality of stations differs from each other, in a watercraft having an electric steering mechanism. SOLUTION: A present steering wheel rotational angle is detected (Step S11), and a steering wheel rotational angle variationΔθh is calculated by subtracting a steering wheel rotational angle in a preceding control period from the steering wheel rotational angle (Step S12). Next, the steering angle ratio K is set (Step S13), and a target steering angle variationΔθs* is calculated by multiplying the steering wheel rotational angle variationΔθh by the steering angle ratio K (Step S14). Finally, a target steering angleθs* in a present period is calculated by adding the target steering angle variationΔθs* to a target steering angleθs*<SB>-1</SB>in a preceding control period (Step S15). The steering device is steered based on the target steering angleθs* (Step S16 and S17). COPYRIGHT: (C)2009,JPO&INPIT
|
