VESSEL PROPULSION SYSTEM AND VESSEL INCLUDING THE SAME

摘要

A vessel propulsion system includes propulsion apparatuses that are turnably mounted on a stern of a hull in an inclined manner such that a turning center line intersects a hull center line, turning actuators that respectively turn the propulsion apparatuses left and right with respect to the hull, a steering device that outputs a steering command, and a control unit that controls the turning actuators individually according to the steering command. The control unit includes a storage unit that stores a reference angle that the turning center line of each propulsion apparatus defines with respect to the hull center line, and a turning command angle computing unit that determines a turning command angle of each propulsion apparatus. The control unit drives each turning actuator based on each turning command angle. The turning command angle computing unit determines the turning command angle of each propulsion apparatus based on the steering command output by the steering device and the reference angle of each reference angle stored in the storage unit.

主权项

1. A vessel propulsion system comprising:
a plurality of propulsion apparatuses that are turnably mounted on a stern of a hull in an inclined manner such that a turning center line intersects a hull center line; a plurality of turning actuators configured to respectively turn the plurality of propulsion apparatuses left and right with respect to the hull; a steering device configured to output a steering command; and a control unit configured or programmed to control the plurality of turning actuators individually according to the steering command output by the steering device; wherein the control unit is configured or programmed to include:
a storage unit configured to store a reference angle that the turning center line of each propulsion apparatus defines with respect to the hull center line, and a turning command angle computing unit configured or programmed to determine a turning command angle of each propulsion apparatus based on the steering command output by the steering device and the reference angle of each propulsion apparatus stored in the storage unit; whereinthe control unit is configured or programmed to drive the corresponding turning actuator based on each turning command angle.