Electric steering apparatus for watercraft
An electric steering apparatus can include a rudder device driven by an electric motor, a steering wheel for operation by an operator to control the angle of the rudder device, a reaction torque motor for applying a reaction force to the steering wheel, a load sensor for detecting an external force acting on a boat or the rudder during steering, and a reaction torque calculator circuit for calculating a target torque for the reaction motor according to an input of the load sensor.
1. A steering apparatus for a boat comprising a rudder device driven by an electric actuator arranged to change a running direction of the boat, a steering wheel configured to operable by an operator of the boat, the steering wheel being electrically connected to the electric actuator so as to feed a drive signal to the electric actuator according to an amount of operation, a load sensor configured to detect an external force that acts on the boat during running, a reaction torque motor configured to apply a reaction force to the steering wheel, and a reaction torque calculation module configured to calculate a target torque for the reaction torque motor by subtracting a force due to paddle-rudder effect from an output of the load sensor.
2. The steering apparatus according to claim 1 , wherein a strength of the reaction force generated by the reaction torque motor is adjustable.
3. The steering apparatus according to claim 2 , wherein the reaction torque calculation module is configured to calculate the target torque based on a speed of the boat.
4. The steering apparatus according to claim 2 further comprising a propulsion device for generating a thrust, wherein the rudder device performs steering by swinging the propulsion device to change a direction of the thrust.
5. The steering apparatus according to claim 1 , wherein the reaction torque calculation module is configured to calculate the target torque based on a speed of the boat.
6. The steering apparatus according to claim 5 further comprising a propulsion device for generating a thrust, wherein the rudder device performs steering by swinging the propulsion device to change a direction of the thrust.
7. The steering apparatus according to claim 1 further comprising a propulsion device for generating a thrust, wherein the rudder device performs steering by swinging the propulsion device to change a direction of the thrust.
8. A steering apparatus for a boat comprising a rudder device driven by an electric actuator arranged to change a running direction of the boat, a steering wheel configured to operable by an operator of the boat, the steering wheel being electrically connected to the electric actuator so as to feed a drive signal to the electric actuator according to an amount of operation, a load sensor configured to detect an external force that acts on the boat during running, a reaction torque motor configured to apply a reaction force to the steering wheel, and means for calculating a target torque for the reaction torque motor by subtracting a force due to paddle-rudder effect from an output of the load sensor.