Propulsion force control apparatus

Abstract

A propulsion force control apparatus is configured to control a propulsion force of a vessel. The apparatus includes: a prime mover configured to drive a propulsor configured to propel the vessel; a speed sensor configured to detect an actual vessel speed of the vessel or a rotation speed of the prime mover; and an electronic control unit including a processor and a memory coupled to the processor and configured to perform feedback control of the rotation speed of the prime mover based on a difference between the actual vessel speed and a target vessel speed or between the rotation speed and a target rotation speed. The processor interrupts the feedback control when a degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than a predetermined degree.

1 . A propulsion force control apparatus configured to control a propulsion force of a vessel, comprising:
 a prime mover configured to drive a propulsor configured to propel the vessel;   a speed sensor configured to detect an actual vessel speed of the vessel or a rotation speed of the prime mover; and   an electronic control unit including a processor and a memory coupled to the processor and configured to perform feedback control of the rotation speed of the prime mover based on a difference between the actual vessel speed and a target vessel speed or between the rotation speed and a target rotation speed, wherein   the processor interrupts the feedback control when a degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than a predetermined degree.   
     
     
         2 . The propulsion force control apparatus according to  claim 1 , wherein
 the processor interrupts the feedback control when a change amount of the actual vessel speed or the rotation speed in a predetermined time period becomes equal to or greater than the predetermined change amount.   
     
     
         3 . The propulsion force control apparatus according to  claim 1 , wherein
 the processor interrupts the feedback control when an absolute value of the difference becomes equal to or greater than the predetermined absolute value.   
     
     
         4 . The propulsion force control apparatus according to  claim 2 , further comprising:
 an operation member configured to command adjustment of the target vessel speed or the target rotation speed in response to an operation of a vessel operator, wherein   the predetermined change amount is larger than an adjustment width of the target vessel speed or the target rotation speed commanded by the operation member.   
     
     
         5 . The propulsion force control apparatus according to  claim 1 , wherein
 the processor resumes the feedback control when the actual vessel speed or the rotation speed is stabilized after interrupting the feedback control.   
     
     
         6 . The propulsion force control apparatus according to  claim 5 , wherein
 the processor resumes the feedback control when an absolute value of a change amount of the actual vessel speed or the rotation speed in a predetermined time period becomes equal to or less than a predetermined absolute value after interrupting the feedback control.   
     
     
         7 . The propulsion force control apparatus according to  claim 6 , further comprising:
 a switch configured to command enablement or disablement of the feedback control in response to an operation of a vessel operator; and   an operation lever configured to command the rotation speed of the prime mover in accordance with an operation amount of the vessel operator, wherein   the processor controls the prime mover in accordance with an operation amount on the operation lever when the feedback control is disabled, and starts the feedback control on condition that the absolute value of the change amount of the actual vessel speed or the rotation speed in the predetermined time period is equal to or less than the predetermined absolute value when enablement of the feedback control is commanded by the switch.   
     
     
         8 . The propulsion force control apparatus according to  claim 1 , wherein
 the processor interrupts the feedback control and maintains current control command value when the degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than the predetermined degree.   
     
     
         9 . The propulsion force control apparatus according to  claim 1 , further comprising:
 a rudder angle sensor configured to detect a rudder angle of the vessel, wherein   the processor interrupts the feedback control on condition that a change amount of the rudder angle in a predetermined time period is equal to or greater than a predetermined value when the degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than the predetermined degree.   
     
     
         10 . The propulsion force control apparatus according to  claim 1 , further comprising:
 a yaw rate sensor configured to detect a yaw rate of the vessel, wherein   the processor interrupts the feedback control on condition that the yaw rate is equal to or greater than a predetermined value when the degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than the predetermined degree.   
     
     
         11 . The propulsion force control apparatus according to  claim 1 , further comprising:
 a radar or a camera configured to detect an object in front of the vessel, wherein   the processor interrupts the feedback control on condition that an object in front of the vessel is detected by the radar or the camera when the degree of change in the actual vessel speed or the rotation speed becomes equal to or greater than the predetermined degree.