Vessel propulsion apparatus and vessel including the same
A vessel propulsion apparatus includes a propulsive force generator including a duct and a propeller. The duct includes a stator. The propeller includes a rim that includes a rotor disposed at a position facing the stator, and a blade on an inner side in a radial direction of the rim. The vessel propulsion apparatus further includes a steering shaft that turnably supports the duct, a motor controller that rotationally drives an electric motor including the stator and the propeller in forward and reverse rotation directions, a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees, and a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and when a predetermined limitation cancellation condition is met, cancels the limitation and allows turning in a turning angle range wider than the reduced turning angle range.
1. A vessel propulsion apparatus comprising:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade on an inner side of the rim in a radial direction of the rim;
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to cause the propeller to generate a forward-traveling propulsive force and in a reverse rotation direction to cause the propeller to generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range;
a target turning angle setter that sets a target turning angle in the reduced turning angle range; and
a rotation direction controller that sets a rotation direction of the electric motor to the motor controller; wherein
when the predetermined limitation cancellation condition is met, the target turning angle setter reverses the target turning angle, and the rotation direction controller instructs the motor controller to reverse the rotation direction of the electric motor.
2. The vessel propulsion apparatus according to claim 1 , wherein the propulsive force generator generates a forward-traveling propulsive force when the electric motor is rotated forward that is greater than a backward-traveling propulsive force generated when the electric motor is reversely rotated at a same speed as when the electric motor is rotated forward.
3. The vessel propulsion apparatus according to claim 1 , wherein
when the predetermined limitation cancellation condition is met, the target turning angle setter reverses the target turning angle by 180 degrees.
4. A vessel propulsion apparatus comprising:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade on an inner side of the rim in a radial direction of the rim;
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to cause the propeller to generate a forward-traveling propulsive force and in a reverse rotation direction to cause the propeller to generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range; and
a braking controller; wherein
the predetermined limitation cancellation condition includes an input of a braking command to brake the vessel; and
the braking controller controls the turning mechanism to direct the propulsive force generator toward a rear side of a vessel by turning the duct beyond the reduced turning angle range, and controls the motor controller to drive the electric motor in the forward rotation direction when the braking command is input.
5. A vessel propulsion apparatus comprising:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade on an inner side of the rim in a radial direction of the rim;
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to cause the propeller to generate a forward-traveling propulsive force and in a reverse rotation direction to cause the propeller to generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range; wherein
the predetermined limitation cancellation condition includes an input of a lateral movement command to move a vessel while preventing the vessel from turning.
6. The vessel propulsion apparatus according to claim 5 , further comprising:
a couple of the propulsive force generators;
a couple of the steering shafts respectively corresponding to the couple of propulsive force generators;
a couple of the turning mechanisms respectively corresponding to the couple of propulsive force generators; and
a lateral movement controller that controls the motor controller and the couple of turning mechanisms in response to the lateral movement command so as to cause the couple of propulsive force generators to generate a propulsive force to move the vessel laterally; wherein
the lateral movement controller is configured or programmed to, in response to an input of the lateral movement command:
control the couple of turning mechanisms so that propulsive force action lines including directions of propulsive forces of the couple of propulsive force generators respectively pass through the center of gravity of the vessel in a planar view, and that one of the couple of propulsive force generators is turned beyond the reduced turning angle range and directed toward the rear side of the vessel; and
control the motor controller to rotationally drive the electric motor of the propulsive force generator directed toward the rear side of the vessel in the forward rotation direction.
7. A vessel comprising:
a hull and a vessel propulsion apparatus provided on the hull; wherein
the vessel propulsion apparatus includes:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade defined on the inner side in a radial direction of the rim;
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to make the propeller generate a forward-traveling propulsive force and in a reverse rotation direction to make the propeller generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range;
a target turning angle setter that sets a target turning angle in the reduced turning angle range; and
a rotation direction controller that sets a rotation direction of the electric motor to the motor controller; and
when the predetermined limitation cancellation condition is met, the target turning angle setter reverses the target turning angle, and the rotation direction controller instructs the motor controller to reverse the rotation direction of the electric motor.
8. The vessel according to claim 7 , wherein the propulsive force generator generates a forward-traveling propulsive force generated when the electric motor is rotated forward that is greater than a backward-traveling propulsive force generated when the electric motor is reversely rotated at a same speed as when the electric motor is rotated forward.
9. The vessel according to claim 7 , wherein
when the predetermined limitation cancellation condition is met, the target turning angle setter reverses the target turning angle by 180 degrees.
10. A vessel comprising:
a hull and a vessel propulsion apparatus provided on the hull; wherein
the vessel propulsion apparatus includes:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade defined on the inner side in a radial direction of the rim:
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to make the propeller generate a forward-traveling propulsive force and in a reverse rotation direction to make the propeller generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range; and
a braking controller;
the predetermined limitation cancellation condition includes an input of a braking command to brake the vessel; and
the braking controller controls the turning mechanism to direct the propulsive force generator toward the rear side of the vessel by turning the duct beyond the reduced turning angle range, and controls the motor controller to drive the electric motor in the forward rotation direction when the braking command is input.
11. A vessel comprising:
a hull and a vessel propulsion apparatus provided on the hull; wherein
the vessel propulsion apparatus includes:
a propulsive force generator that includes a duct and a propeller, the duct including a stator, the propeller including a rim that includes a rotor disposed at a position facing the stator, and a blade defined on the inner side in a radial direction of the rim;
a steering shaft that turnably supports the duct;
a motor controller that rotationally drives an electric motor including the stator and the propeller in a forward rotation direction to make the propeller generate a forward-traveling propulsive force and in a reverse rotation direction to make the propeller generate a backward-traveling propulsive force;
a turning mechanism that turns the duct in a full turning angle range including a range of ±180 degrees; and
a controller configured or programmed to define:
a turning angle range limiter that limits a turning angle range of the turning mechanism to a reduced turning angle range narrower than the full turning angle range, and, when a predetermined limitation cancellation condition is met, cancels a limitation of the turning angle range being the reduced turning angle range and allows turning in a turning angle range wider than the reduced turning angle range; and
the predetermined limitation cancellation condition includes an input of a lateral movement command to move the vessel while restraining the vessel from turning.
12. The vessel according to claim 11 , comprising:
a couple of the propulsive force generators;
a couple of the steering shafts respectively corresponding to the couple of propulsive force generators;
a couple of the turning mechanisms respectively corresponding to the couple of propulsive force generators; and
a lateral movement controller configured or programmed to:
control the motor controller and the couple of turning mechanisms in response to the lateral movement command so as to cause the couple of propulsive force generators to generate a propulsive force to move the vessel laterally;
control, in response to an input of the lateral movement command, the couple of turning mechanisms so that propulsive force action lines including directions of propulsive forces of the couple of propulsive force generators respectively pass through the center of gravity of the vessel in a planar view, and that one of the couple of propulsive force generators is turned beyond the reduced turning angle range and directed toward the rear side of the vessel; and
control the motor controller to rotationally drive the electric motor of the propulsive force generator directed toward the rear side of the vessel in the forward rotation direction.