Outboard motor control device and marine vessel including the same

1. An outboard motor control device arranged to control a plurality of outboard motors, the outboard motor control device comprising:

a malfunction determination unit arranged to determine whether any of the outboard motors is malfunctioning in performance of turning angle control to thereby identify a malfunctioning outboard motor;

a turning angle control stop unit arranged to stop turning angle control of the malfunctioning outboard motor;

a turning angle range limitation unit arranged to limit a turning angle range of a normally functioning outboard motor according to a turning angle of the malfunctioning outboard motor; and

a turning angle control unit arranged to perform turning angle control of the normally functioning outboard motor within the turning angle range limited by the turning angle range limitation unit.

2. The outboard motor control device according to claim 1 , further comprising:

a non-interference control unit arranged to turn the malfunctioning outboard motor to a predetermined non-interference turning angle; wherein

the turning angle control stop unit is arranged to stop turning angle control of the malfunctioning outboard motor after the malfunctioning outboard motor has reached the non-interference turning angle.

3. The outboard motor control device according to claim 2 , further comprising:

a turnability determination unit arranged to determine whether the malfunctioning outboard motor is turnable; wherein

the non-interference control unit is arranged to turn the malfunctioning outboard motor to the non-interference turning angle when the malfunctioning outboard motor is determined by the turnability determination unit to be turnable; and

the turning angle control stop unit is arranged to stop the turning angle control of the malfunctioning outboard motor without waiting for the malfunctioning outboard motor to be turned to the non-interference turning angle when the malfunctioning outboard motor is determined by the turnability determination unit to be not turnable.

4. The outboard motor control device according to claim 2 , wherein the non-interference turning angle is set to an end of the turning angle range.

5. The outboard motor control device according to claim 2 , wherein the plurality of outboard motors are aligned in an alignment direction, and the non-interference turning angle for an outboard motor disposed at an extreme end in the alignment direction is set to an end of the turning angle range for that outboard motor.

6. The outboard motor control device according to claim 2 , wherein the non-interference turning angle is set to a center of the turning angle range.

7. The outboard motor control device according to claim 2 , wherein the non-interference control unit is arranged to move the malfunctioning outboard motor to a center of the turning angle range when the malfunctioning outboard motor is adjacent to other normally functioning outboard motors on both sides thereof.

8. The outboard motor control device according to claim 2 , wherein the non-interference turning angle is individually set for each of the plurality of outboard motors.

9. The outboard motor control device according to claim 2 , further comprising a propulsion force control unit arranged to stop generation of a propulsion force of the malfunctioning outboard motor before turning the malfunctioning outboard motor.

10. The outboard motor control device according to claim 1 , wherein

the outboard motor control device is arranged to control turning actuators respectively arranged to individually turn the plurality of outboard motors;

the outboard motor control device further comprises a non-interference control unit which is arranged to move the malfunctioning outboard motor by turning the malfunctioning outboard motor until a load of the corresponding turning actuator reaches a predetermined value; and

the turning angle control stop unit is arranged to stop turning angle control of the malfunctioning outboard motor after the malfunctioning outboard motor is moved by the non-interference control unit.

11. A marine vessel comprising:

a hull;

a plurality of outboard motors installed on the hull;

a malfunction determination unit arranged to determine whether any of the outboard motors is malfunctioning in performance of turning angle control to thereby identify a malfunctioning outboard motor;

a turning angle control stop unit arranged to stop turning angle control of the malfunctioning outboard motor;

a turning angle range limitation unit arranged to limit a turning angle range of a normally functioning outboard motor according to a turning angle of the malfunctioning outboard motor; and

a turning angle control unit arranged to perform turning angle control of the normally functioning outboard motor within the turning angle range limited by the turning angle range limitation unit.

12. The marine vessel according to claim 11 , further comprising:

a non-interference control unit arranged to turn the malfunctioning outboard motor to a predetermined non-interference turning angle; wherein

the turning angle control stop unit is arranged to stop turning angle control of the malfunctioning outboard motor after the malfunctioning outboard motor is turned to the non-interference turning angle.

13. The marine vessel according to claim 12 , further comprising:

a turnability determination unit arranged to determine whether the malfunctioning outboard motor is turnable; wherein

the non-interference control unit is arranged to turn the malfunctioning outboard motor to the non-interference turning angle when the malfunctioning outboard motor is determined by the turnability determination unit to be turnable; and

the turning angle control stop unit is arranged to stop the turning angle control of the malfunctioning outboard motor without waiting for the malfunctioning outboard motor to be turned to the non-interference turning angle when the malfunctioning outboard motor is determined by the turnability determination unit to be not turnable.

14. The marine vessel according to claim 12 , wherein the non-interference turning angle is set to an end of the turning angle range.

15. The marine vessel according to claim 12 , wherein the plurality of outboard motors are aligned in an alignment direction, and the non-interference turning angle for an outboard motor disposed at an extreme end in the alignment direction is set to an end of the turning angle range for that outboard motor.

16. The marine vessel according to claim 12 , wherein the non-interference turning angle is set to a center of the turning angle range.

17. The marine vessel according to claim 12 , wherein the non-interference control unit is arranged to move the malfunctioning outboard motor to a center of the turning angle range when the malfunctioning outboard motor is adjacent to other normally functioning outboard motors on both sides thereof.

18. The marine vessel according to claim 12 , wherein the non-interference turning angle is individually set for each of the plurality of outboard motors.

19. The marine vessel according to claim 12 , further comprising a propulsion force control unit arranged to stop generation of a propulsion force of the malfunctioning outboard motor before turning the malfunctioning outboard motor.

20. The marine vessel according to claim 11 , further comprising:

turning actuators respectively arranged to individually turn the plurality of outboard motors; and

a non-interference control unit which is arranged to move the malfunctioning outboard motor by turning the malfunctioning outboard motor until a load of the corresponding turning actuator reaches a predetermined value; and

the turning angle control stop unit is arranged to stop turning angle control of the malfunctioning outboard motor after the malfunctioning outboard motor is moved by the non-interference control unit.