Ship propulsion systems and ships

Abstract

In marine propulsion systems, the correction value for the electric angle of the electric motor can be rewritten using a simple method. [Solution] The ship's propulsion system comprises a propeller, an electric motor, a controller, and a communication device. The electric motor rotates the propeller. The electric motor has a rotor containing permanent magnets and a stator facing the rotor in the radial direction of the rotor, which includes a plurality of coils arranged in line along the direction of rotation of the rotor. The controller controls the drive of the electric motor. The controller includes memory. The communication device communicates with external equipment. The controller receives correction requests from external equipment via the communication device and, based on the correction requests, rewrites the correction values ​​of the electrical angles of the currents flowing through the plurality of coils stored in memory.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a ship propulsion machine and a ship.

Background Art

[0002] A known ship propulsion machine includes a propeller and an electric motor that rotates the propeller. The electric motor has a rotor including permanent magnets and a stator including a plurality of coils. (See, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a ship propulsion machine, there is a demand for rewriting a correction value of an electrical angle of an electric motor in a simple manner.

[0005] This specification discloses a technology capable of solving the above-described problems.

Means for Solving the Problems

[0006] The technology disclosed in this specification can be realized, for example, in the following forms.

[0007] (1) A ship propulsion system disclosed herein comprises a propeller, an electric motor, a controller, and a communication device. The electric motor rotates the propeller. The electric motor has a rotor including permanent magnets and a stator facing the rotor in the radial direction of the rotor, and including a plurality of coils arranged in a line along the direction of rotation of the rotor. The controller controls the driving of the electric motor. The controller includes a memory. The communication device communicates with an external device. The controller receives a correction request from the external device via the communication device and, based on the correction request, rewrites the correction value of the electrical angle of the current flowing through the plurality of coils stored in the memory. According to this ship propulsion system, the correction value of the electrical angle of the electric motor can be rewritten in a relatively simple manner.

[0008] (2) In the above-mentioned ship propulsion system, the controller may rewrite the correction value, provided that the external equipment satisfies the certification conditions. This configuration prevents the correction value of the electric motor's electrical angle from being rewritten by tools other than the dedicated tool.

[0009] (3) In the above-mentioned ship propulsion system, the controller may rewrite the correction value, provided that the rotation of the electric motor is stopped. This configuration suppresses erroneous operation of the electric motor while it is running.

[0010] (4) In the above-mentioned ship propulsion system, the controller may send a completion signal to the external device when it has rewritten the correction value. This configuration makes it easy for the user to confirm that the rewriting of the correction value for the electric angle of the electric motor has been completed.

[0011] (5) In the above-mentioned ship propulsion system, the controller may receive input values ​​from the external device and rewrite the correction value based on the input values. With this configuration, the correction value of the electric angle of the electric motor can be rewritten in a relatively simple manner.

[0012] (6) In the above-mentioned ship propulsion system, the controller may maintain the correction value immediately before receiving the correction request when the input value is outside the reference range. This configuration improves the accuracy of the correction value of the electrical angle after the rewriting is complete.

[0013] (7) In the above-mentioned ship propulsion system, when the controller stops rewriting the correction value, it may transmit different signals to the external device depending on the cause of the stoppage. With this configuration, when the rewriting of the correction value of the electrical angle is stopped, it becomes easy for the user to confirm the cause of the stoppage.

[0014] (8) In the above-mentioned ship propulsion system, the memory may store the initial value of the correction value. This configuration suppresses the performance degradation of the electric motor when the rewriting of the correction value of the electric angle is discontinued.

[0015] (9) In the above-mentioned ship propulsion system, the controller may receive a read request from the external device via the communication device and, based on the read request, transmit the current value of the correction value stored in the memory to the external device. This configuration makes it easy for the user to check the current value of the correction value of the electrical angle.

[0016] (10) The above-mentioned ship propulsion system may further include a sensor for detecting the position of the coil. With this configuration, the correction value of the electric angle of the electric motor can be rewritten in a relatively simple manner.

[0017] (11) In the above-described ship propulsion system, the rotor is a tubular body and includes a plurality of permanent magnets arranged in a line along the rotation direction of the rotor, and the stator is a tubular body and may cover the rotor. With this configuration, the correction value of the electric angle of the electric motor can be rewritten by a relatively simple method.

[0018] (12) In the above-described ship propulsion system, the rotor may cover the propeller and be connected to the propeller. With this configuration, the electrical angle of the electric motor can be corrected by a relatively simple method. The correction value of the electrical angle of the electric motor can be rewritten by a relatively simple method.

[0019] (13) A vessel disclosed herein comprises a hull and a ship propulsion system according to any one of (1) to (12) above, mounted on the stern of the hull. With this vessel, the correction value of the electric angle of the electric motor can be rewritten in a relatively simple manner.

[0020] (14) Other ship propulsion systems disclosed herein include an electric motor, a controller, and a communication device. The electric motor has a rotor including permanent magnets and a stator facing the rotor in the radial direction of the rotor, and including a plurality of coils arranged in a line along the direction of rotation of the rotor. The controller controls the driving of the electric motor. The controller includes a memory. The communication device communicates with an external device. The controller receives correction requests from the external device via the communication device and, based on the correction requests, rewrites the correction values ​​of the electrical angles of the currents flowing through the plurality of coils stored in the memory. According to this ship propulsion system, the correction values ​​of the electrical angles of the electric motor can be rewritten in a relatively simple manner.

[0021] Furthermore, the technologies disclosed herein can be realized in various forms, for example, in the form of a ship propulsion system, a ship equipped with a hull and a ship propulsion system, and methods for manufacturing them. [Effects of the Invention]

[0022] According to the technology disclosed herein, the correction value for the electrical angle of an electric motor can be rewritten by a relatively simple method. [Brief explanation of the drawing]

[0023] [Figure 1]Perspective view showing the configuration of the ship according to the embodiment [Figure 2] Side view showing the configuration of the electric propulsion unit [Figure 3] Top view showing the configuration of the electric propulsion unit [Figure 4] Explanatory drawing showing the configuration of the drive unit [Figure 5] Block diagram showing the control configuration of the electric propulsion unit [Figure 6] Flowchart showing the method for rewriting the correction value of the electrical angle [Figure 7] Example of a correction value confirmation screen displayed on an external device [Figure 8] Example of a correction value rewriting screen displayed on an external device

Mode for Carrying Out the Invention

[0024] (Embodiment) FIG. 1 is a perspective view showing the configuration of a ship 10 according to an embodiment. In FIG. 1 and other drawings described later, arrows indicating respective directions based on the position of the ship 10 may be shown. Specifically, each drawing may show arrows representing the front (FRONT), rear (REAR), left (LEFT), right (RIGHT), upper (UPPER), and lower (LOWER) directions, respectively. The front-rear direction, left-right direction, and up-down direction (vertical direction) are directions orthogonal to each other, respectively.

[0025] The ship 10 includes a hull 200 and an electric propulsion unit 100. The electric propulsion unit 100 is an example of a ship propulsion unit.

[0026] The hull 200 is a part of the ship 10 where an operator (crew) boards. The hull 200 has a hull main body 210, a cockpit 220, an operating device 230, a display device 260, and an input device 270.

[0027] A living space 212 is formed in the main hull section 210. The cockpit 220 is located in the living space 212. The hull 200 further includes a partition wall 214 and a transom 216. The partition wall 214 demarcates the rear side of the living space 212. The transom 216 is located at the rear end of the hull 200. In the longitudinal direction, a space 215 exists between the transom 216 and the partition wall 214.

[0028] The control device 230 is a device for maneuvering the vessel. The control device 230 receives input from the operator. The control device 230 is installed near the cockpit 220. The control device 230 includes a steering wheel 232, a shift / throttle lever 240, and a joystick unit 250. The steering wheel 232 is a device for steering the vessel 10. The shift / throttle lever 240 is a device for shifting the gears and changing the thrust of the vessel 10. The joystick unit 250 is a device for steering the gears, shifting the gears, and changing the thrust of the vessel 10.

[0029] The display device 260 is, for example, a liquid crystal display that displays various images (such as operation images) related to the ship 10. The input device 270 is, for example, a button for changing the ship's operating mode.

[0030] Figure 2 is a side view showing the configuration of the electric propulsion system 100. Figure 3 is a top view showing the configuration of the electric propulsion system 100. The electric propulsion system 100 is a device that generates thrust to propel the ship 10. The electric propulsion system 100 is an electric propulsion system driven by an electric motor. The electric propulsion system 100 in this embodiment is an outboard motor. In the following, unless otherwise specified, the electric propulsion system 100 in the reference position will be described. The reference position is the position of the electric propulsion system 100 when the ship 10 is underway (the position shown in Figures 1 and 2), and is the position in which the propeller rotation axis L of the propeller 132, which will be described later, extends in the longitudinal direction. The longitudinal, lateral, and vertical directions are each determined based on the electric propulsion system 100 in the reference position.

[0031] The electric propulsion system 100 is mounted on the transom 216 located at the rear (stern) of the hull 200 (see Figure 1). The electric propulsion system 100 comprises a propulsion unit 101 and a suspension system 102.

[0032] The thruster body 101 includes a cowl 110, a middle housing 124, a lower housing 120, a duct 122, and a drive unit 130.

[0033] The cowl 110 is located on top of the electric propulsion system 100. The cowl 110 is a cover that houses various wiring and other components. The cowl 110 has an upper cover 110U, a left cover 110L, and a right cover 110R. The left cover 110L is located on the port side of the propulsion system body 101. The right cover 110R is located on the starboard side of the propulsion system body 101. The left cover 110L and the right cover 110R are positioned opposite each other in the horizontal direction (left-right direction). The upper cover 110U is located above the left cover 110L and the right cover 110R. The upper cover 110U covers the upper part of the left cover 110L and the upper part of the right cover 110R, respectively.

[0034] The middle housing 124 is located below the cowl 110 of the electric propulsion system 100. The middle housing 124 is a cover that houses a steering device (not shown), which is a device that controls the rudder angle of the ship 10, a steering control unit (not shown) that controls the operation of the steering device, and various wirings.

[0035] The lower housing 120 is located below the middle housing 124 of the electric propulsion system 100. The lower housing 120 is a cover that houses the MCU 150 (described later), the sensor 160 (described later), and various wiring. The lower housing 120 is rotatably mounted to the middle housing 124 around an axis that runs vertically. The rotation of the lower housing 120 relative to the middle housing 124 causes the ship 10 to steer.

[0036] The duct 122 is located below the lower housing 120 of the electric propulsion system 100. The duct 122 is a tubular body extending in the longitudinal direction. In the reference posture, the duct 122 is positioned lower than the water surface W (see Figure 2). The drive unit 130 is located radially inside the duct 122. A stator fin 133 and a bearing 135 are provided radially inside the duct 122 (see Figure 2). The bearing 135 supports the propeller 132, described later, so that it can rotate around the propeller rotation axis L. The stator fin 133 has multiple (e.g., three) fins. The multiple fins are arranged radially around the bearing 135. The multiple fins are arranged at equal intervals around the propeller rotation axis L. The multiple fins are fixed to the duct 122. Multiple fins are positioned behind the propeller 132, protruding rearward from the duct 122 (see Figure 2).

[0037] Figure 4 is an explanatory diagram showing the configuration of the drive unit 130. The drive unit 130 generates thrust to propel the ship 10. The drive unit 130 includes a propeller 132 and an electric motor 134.

[0038] The propeller 132 is a rotating body having multiple blades. The propeller 132 generates thrust by rotating. The propeller 132 is located radially inward of the duct 122. The propeller 132 is rotatable around a propeller rotation axis L that is parallel to the horizontal direction. The propeller rotation axis L is parallel to the central axis of the duct 122. The propeller 132 is completely covered by the duct 122.

[0039] The electric motor 134 rotates the propeller 132. The electric motor 134 in this embodiment is a three-phase motor. The electric motor 134 has a rotor 136 and a stator 138.

[0040] The rotor 136 is a tubular body extending in the longitudinal direction. The rotor 136 is rotatably supported relative to the duct 122. The rotor 136 rotates around the propeller rotation axis L relative to the stator 138. The propeller 132 is positioned radially inward of the rotor 136. The rotor 136 covers and connects to the propeller 132. The propeller 132 rotates together with the rotor 136. The rotor 136 contains a plurality of permanent magnets 140. The plurality of permanent magnets 140 are arranged in a line along the rotation direction of the rotor 136. In Figure 4, only one of the plurality of permanent magnets 140 is referenced, and the reference numerals for the other permanent magnets 140 are omitted.

[0041] The stator 138 is a tubular body extending in the front-rear direction. The stator 138 is positioned radially outward of the rotor 136 and covers the rotor 136. The stator 138 faces the rotor 136 in the radial direction. The stator 138 is positioned on the same axis as the rotor 136. The stator 138 is fixed to the duct 122. The stator 138 includes a plurality of coils 142. The plurality of coils 142 are arranged side by side along the rotation direction of the rotor 136. In Figure 4, only one of the plurality of coils 142 is labeled, and the labels of the other coils 142 are omitted. The plurality of coils 142 include one or more U-phase coils, one or more V-phase coils, and one or more W-phase coils. The U-phase coils, V-phase coils, and W-phase coils are arranged alternately along the rotation direction of the rotor 136.

[0042] When multiple coils 142 are energized, an electromagnetic force is generated that rotates the rotor 136. With this configuration, the propeller 132 generates forward thrust when the rotor 136 of the electric motor 134 rotates in the forward direction, and backward thrust when the rotor 136 of the electric motor 134 rotates in the reverse direction.

[0043] Figure 5 is a block diagram showing the control configuration of the electric propulsion system 100. The propulsion system body 101 further includes an MCU 150, a sensor 160, and a communication interface 170. The MCU 150 is an example of a controller. The communication interface 170 is an example of a communication device.

[0044] The Motor Control Unit (MCU) 150 controls the drive of the electric motor 134. The MCU 150 is housed in the lower housing 120. The MCU 150 includes an inverter circuit 152 and a memory 154. In addition, the MCU 150 includes, for example, a CPU, a multi-core CPU, and programmable devices (Field Programmable Gate Array (FPGA), Programmable Logic Device (PLD), etc.).

[0045] The inverter circuit 152 is a power supply circuit that supplies power to the electric motor 134. The inverter circuit 152 in this embodiment is a three-phase modulation inverter circuit. The inverter circuit 152 converts the DC current supplied from a battery (not shown) into a three-phase AC current and supplies it to the multiple coils 142 of the electric motor 134. More specifically, the inverter circuit 152 supplies AC currents to the U-phase coil, V-phase coil, and W-phase coil, each with an electrical angle phase difference of 120 degrees from each other.

[0046] Memory 154 is a storage device. In this embodiment, memory 154 is a storage device that allows data to be rewritten. More specifically, memory 154 in this embodiment is a PROM (Programmable Read Only Memory), which is a non-volatile storage device that allows data to be rewritten. Memory 154 is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory). Memory 154 stores the correction value of the electrical angle of the current flowing through the multiple coils 142. Specifically, memory 154 in this embodiment stores the current value of the electrical angle correction value and the initial value of the electrical angle correction value. The initial value of the electrical angle correction value specifically refers to the electrical angle correction value at the time of shipment of the electric propulsion system 100.

[0047] Sensor 160 is a sensor that measures the rotational speed of the electric motor 134. Sensor 160 in this embodiment is a rotary encoder that converts rotational motion into an electrical signal. Sensor 160 in this embodiment is, for example, a magnetic rotary encoder. Based on the rotational speed of the electric motor 134 measured by sensor 160, MCU 150 adjusts the current supplied to the multiple coils 142 of the electric motor 134 to control the rotational speed of the electric motor 134.

[0048] The communication interface 170 communicates with the external device 20, which will be described later. The MCU 150 receives signals from the external device 20 and transmits signals to the external device 20 via the communication interface 170. The communication interface 170 may be a wireless communication interface or a wired communication interface.

[0049] The external device 20 receives user input and communicates with the electric propulsion system 100. The external device 20 receives signals from and transmits signals to the MCU 150 via the communication interface 170. The external device 20 may be, for example, a personal computer, a smartphone, or a tablet device.

[0050] The suspension device 102 is a device that suspends the propulsion unit 101 from the hull 200. The suspension device 102 includes a tilt shaft 104, a pair of left and right clamp brackets 106, and a connecting bracket 109.

[0051] A pair of left and right clamp brackets 106 are positioned at the rear of the hull 200, spaced apart from each other in the left-right direction. Each clamp bracket 106 is fixed to the transom 216 of the hull 200, for example, by bolts. Each clamp bracket 106 has a cylindrical support portion 107 with a through hole extending in the left-right direction.

[0052] The tilt shaft 104 is a rod-shaped member. The tilt shaft 104 is rotatably supported within the through-hole of the support portion 107 of the clamp bracket 106. The tilt axis line At, which is the center line of the tilt shaft 104, is the horizontal (left-right) axis in the tilting motion of the electric thruster 100.

[0053] The connecting bracket 109 is positioned so as to be sandwiched between a pair of clamp brackets 106 in the left-right direction. The connecting bracket 109 is supported by the support portion 107 of the clamp bracket 106 via the tilt shaft 104 so as to be rotatable around the tilt axis At. The connecting bracket 109 is rotationally driven around the tilt axis At relative to the clamp bracket 106 by a tilt device (not shown) including an actuator such as a hydraulic cylinder.

[0054] When the connecting bracket 109 rotates around the tilt axis At relative to the clamp bracket 106, the propulsion unit body 101 fixed to the connecting bracket 109 also rotates around the tilt axis At. This enables a tilt operation that rotates the propulsion unit body 101 vertically relative to the hull 200. The tilt operation of the electric propulsion unit 100 changes the angle of the propulsion unit body 101 around the tilt axis At within a range from a tilt-down state where the propeller 132 is located in the water (the state in which the electric propulsion unit 100 is in its standard position: shown in Figure 2) to a tilt-up state where the propeller 132 is located above the water surface W. The tilt operation of the electric propulsion unit 100 also performs a trim operation to adjust the attitude of the ship 10 when it is running by adjusting the angle of the propulsion unit body 101 around the tilt axis At.

[0055] Figure 6 is a flowchart showing how to rewrite the electrical angle correction value. The electrical angle correction value is a value set to correct for deviations in the electrical angle of the current supplied to multiple coils 142, such as caused by a misalignment of the mounting position of the sensor 160. The electrical angle correction value is rewritten, for example, when the positional relationship between the rotor 136 and the sensor 160 is changed, such as when replacing parts of the electric propulsion system 100. By appropriately rewriting the electrical angle correction value, the performance of the electric motor 134 is maintained or improved. The MCU 150 rewrites the electrical angle correction value of the current flowing through multiple coils 142 stored in memory 154, for example, by the method shown below.

[0056] First, the MCU 150 starts communication with the external device 20 (S110). The user requests the external device 20 to start communication with the MCU 150 by operating the external device 20. At this time, the user requests the external device 20 to start communication with the MCU 150, for example, by using a dedicated application installed on the external device 20. The external device 20 receives the request from the user and communicates with the MCU 150 via the communication interface 170. The MCU 150 receives the request from the external device 20 via the communication interface 170 and starts communication with the external device 20. The communication between the external device 20 and the MCU 150 may be wireless or wired.

[0057] Next, the MCU 150 determines whether the external device 20 meets the authentication conditions (S120). The external device 20 transmits authentication information to the MCU 150 via the communication interface 170. Based on the authentication information received from the external device 20 via the communication interface 170, the MCU 150 determines whether the external device 20 meets the authentication conditions.

[0058] When the MCU 150 determines that the external device 20 does not meet the authentication conditions (S120: No), it sends error information to the external device 20 via the communication interface 170 (S122). The MCU 150 then maintains the electrical angle correction value from immediately before communication with the external device 20 began and stops rewriting the electrical angle correction value. In other words, the MCU 150 rewrites the electrical angle correction value only if the external device 20 meets the authentication conditions.

[0059] When the MCU 150 determines that the external device 20 meets the authentication conditions (S120: Yes), it determines whether the request made by the external device 20 is a correction request or a read request (S130). A correction request is a request to rewrite the correction value of the electrical angle of the current flowing through multiple coils 142 stored in memory 154. Based on this correction request, the MCU 150 rewrites the correction value of the electrical angle. A read request is a request to send the current value of the correction value of the electrical angle stored in memory 154 to the external device 20. The user makes either a correction request or a read request to the external device 20. The external device 20 sends the request made by the user to the MCU 150 via the communication interface 170. The MCU 150 receives the request made by the user from the external device 20 via the communication interface 170.

[0060] When the MCU 150 receives a read request from the external device 20 via the communication interface 170 (S130:0), it transmits the current value of the correction value to the external device 20 via the communication interface 170 based on the read request (S140). Figure 7 is an example of the correction value confirmation screen displayed on the external device 20. When the external device 20 receives the current value of the correction value from the external device 20 via the communication interface 170, it displays the current value of the correction value on the display unit 22 of the external device 20. As shown in Figure 7, the "U-phase electrical angle correction value" column displays the correction value of the electrical angle of the U-phase coil in the electric motor 134, the "V-phase electrical angle correction value" column displays the correction value of the electrical angle of the V-phase coil in the electric motor 134, and the "W-phase electrical angle correction value" column displays the correction value of the electrical angle of the W-phase coil in the electric motor 134.

[0061] When the MCU 150 receives a correction request from the external device 20 via the communication interface 170 (S130:1), it determines whether the user's input value is within the reference range (S150). Figure 8 is an example of the correction value rewriting screen displayed on the external device 20. The user inputs correction values ​​for the electrical angles of the U-phase coil, V-phase coil, and W-phase coil using the input section (not shown) of the external device 20. The input value may be, for example, a value with one decimal place. The external device 20 transmits the input value of the electrical angle entered by the user to the MCU 150 via the communication interface 170. The MCU 150 receives the user's input value from the external device 20 via the communication interface 170. The MCU 150 determines whether the user's input value is within the reference range. Specifically, when the user's input value is, for example, -90 degrees or more and 90 degrees or less, the MCU 150 determines that the user's input value is within the reference range.

[0062] When the MCU150 determines that the user's input value is outside the reference range (S150: No), it transmits error information to the external device 20 (S152). The MCU150 then maintains the electrical angle correction value from immediately before accepting the correction request and stops rewriting the electrical angle correction value. In other words, the MCU150 rewrites the electrical angle correction value only if the user's input value is within the reference range.

[0063] When the MCU150 determines that the user input value is within the reference range (S150: Yes), it determines whether the electric motor 134 is stopped or not (S160). The MCU150 receives information on the rotational speed of the electric motor 134 from the sensor 160. Based on the information on the rotational speed of the electric motor 134 received from the sensor 160, the MCU150 determines whether the electric motor 134 is stopped or not. In this embodiment, the MCU150 determines that the electric motor 134 is stopped when its rotational speed is 0 rpm.

[0064] When the MCU150 determines that the electric motor 134 is not stopped (S160: No), it transmits error information to the external device 20 (S162). The MCU150 then maintains the correction value of the electrical angle immediately before accepting the correction request and stops rewriting the correction value of the electrical angle. In other words, the MCU150 rewrites the correction value of the electrical angle only if the rotation of the electric motor 134 is stopped.

[0065] When the MCU 150 determines that the electric motor 134 is stopped (S160: Yes), it determines whether it has succeeded in rewriting the electrical angle correction value stored in memory 154 (S170). Based on the input value entered by the user, the MCU 150 rewrites the electrical angle correction value stored in memory 154. Then, when the MCU 150 has succeeded in rewriting the electrical angle correction value (S170: Yes), it sends a completion signal to the external device 20 (S180). The completion signal is a signal indicating that the rewriting of the electrical angle correction value stored in memory 154 has been successful. The external device 20 receives the completion signal from the MCU 150 via the communication interface 170. The external device 20 displays on the display unit 22 that the rewriting of the electrical angle correction value has been successful, and informs the user that the rewriting of the electrical angle correction value has been successful.

[0066] If the MCU150 fails to rewrite the electrical angle correction value (S170: No), it sends error information to the external device 20 (S172). The MCU150 then maintains the electrical angle correction value from immediately before accepting the correction request and cancels the rewriting of the electrical angle correction value.

[0067] When the MCU 150 cancels the rewriting of the electrical angle correction value, it sends different signals to the external device 20 depending on the reason for the cancellation. For example, the MCU 150 sends different error information to the external device 20 when it determines that the authentication conditions are not met, when it determines that the user input value is outside the reference range, when it determines that the electric motor 134 is not stopped, and when writing to the memory 154 fails.

[0068] As described above, the electric propulsion system 100 of this embodiment includes a propeller 132, an electric motor 134, an MCU 150, and a communication interface 170. The electric motor 134 rotates the propeller 132. The electric motor 134 has a rotor 136 including a permanent magnet 140, and a stator 138 facing the rotor 136 in the radial direction of the rotor 136, including a plurality of coils 142 arranged in a line along the rotation direction of the rotor 136. The MCU 150 controls the drive of the electric motor 134. The MCU 150 includes a memory 154. The communication interface 170 communicates with an external device 20. The MCU 150 receives correction requests from the external device 20 via the communication interface 170 and, based on the correction requests, rewrites the correction values ​​of the electrical angles of the current flowing through the plurality of coils 142 stored in the memory 154. According to the electric propulsion system 100 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten by a relatively simple method.

[0069] In the electric thruster 100 of this embodiment, the MCU 150 rewrites the correction value, provided that the external device 20 satisfies the authentication conditions. According to the electric thruster 100 of this embodiment, the correction value of the electric angle of the electric motor 134 is prevented from being rewritten by tools other than the dedicated tool.

[0070] In the electric propulsion system 100 of this embodiment, the MCU 150 rewrites the correction value, with the condition that the rotation of the electric motor 134 has stopped. According to the electric propulsion system 100 of this embodiment, malfunctions of the electric motor 134 during operation are suppressed.

[0071] In the electric thruster 100 of this embodiment, the MCU 150 sends a completion signal to the external device 20 when it has rewritten the correction value. According to the electric thruster 100 of this embodiment, it becomes easy for the user to confirm that the rewriting of the correction value of the electric angle of the electric motor 134 has been completed.

[0072] In the electric thruster 100 of this embodiment, the MCU 150 receives user input values ​​from an external device 20 and rewrites the correction value based on the input values. According to the electric thruster 100 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten in a relatively simple manner.

[0073] In the electric propulsion system 100 of this embodiment, when the input value is outside the reference range, the MCU 150 maintains the correction value immediately before receiving the correction request. According to the electric propulsion system 100 of this embodiment, the accuracy of the correction value of the electrical angle after rewriting is improved.

[0074] In the electric thruster 100 of this embodiment, when the rewriting of the correction value is stopped, different signals are sent to the external device 20 depending on the reason for the stoppage. According to the electric thruster 100 of this embodiment, when the rewriting of the correction value of the electrical angle is stopped, it becomes easy for the user to confirm the reason why the rewriting of the correction value of the electrical angle was stopped.

[0075] In the electric propulsion system 100 of this embodiment, the memory 154 stores the initial value of the correction value. According to the electric propulsion system 100 of this embodiment, the performance degradation of the electric motor 134 is suppressed when the rewriting of the correction value of the electric angle is stopped.

[0076] In the electric thruster 100 of this embodiment, the MCU 150 receives a read request from an external device 20 via the communication interface 170, and based on the read request, transmits the current value of the correction value stored in the memory 154 to the external device 20. With the electric thruster 100 of this embodiment, it becomes easy for the user to check the current value of the correction value of the electric angle.

[0077] The electric thruster 100 of this embodiment is further equipped with a sensor 160 for detecting the position of the coil 142. According to the electric thruster 100 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten by a relatively simple method.

[0078] In the electric propulsion system 100 of this embodiment, the rotor 136 is a tubular body and includes a plurality of permanent magnets 140 arranged in a line along the rotation direction of the rotor 136, and the stator 138 is a tubular body and covers the rotor 136. According to the electric propulsion system 100 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten by a relatively simple method.

[0079] In the electric thruster 100 of this embodiment, the rotor 136 covers the propeller 132 and is connected to the propeller 132. According to the electric thruster 100 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten by a relatively simple method.

[0080] The vessel 10 of this embodiment comprises a hull 200 and an electric propulsion system 100 attached to the rear of the hull 200. According to the vessel 10 of this embodiment, the correction value of the electric angle of the electric motor 134 can be rewritten by a relatively simple method.

[0081] The electric thruster 100 of this embodiment comprises an electric motor 134, an MCU 150, and a communication interface 170. The electric motor 134 has a rotor 136 including a permanent magnet 140, and a stator 138 facing the rotor 136 in the radial direction of the rotor 136, and including a plurality of coils 142 arranged in a line along the rotation direction of the rotor 136. The MCU 150 controls the drive of the electric motor 134. The MCU 150 includes a memory 154. The communication interface 170 communicates with an external device 20. The MCU 150 receives correction requests from the external device 20 via the communication interface 170 and, based on the correction request, rewrites the correction value of the electrical angle of the current flowing through the plurality of coils 142 stored in the memory 154. According to the electric thruster 100 of this embodiment, the correction value of the electrical angle of the electric motor 134 can be rewritten in a relatively simple manner.

[0082] (modified version) The technologies disclosed herein are not limited to the embodiments described above and can be modified in various forms without departing from their essence, for example, the following modifications are possible.

[0083] The configuration of the ship 10 and the electric propulsion system 100 in the above embodiment is merely an example and can be modified in various ways. For example, in the above embodiment, an outboard motor electric propulsion system 100 is given as an example of the ship's propulsion system, but the ship's propulsion system may be an inboard motor, an inboard / outboard motor, or the like.

[0084] In the above embodiment, the electric propulsion system 100 has only an electric motor 134 as a drive source, but the ship's propulsion system may be a hybrid type that has an engine in addition to the electric motor.

[0085] In the above embodiment, the electric propulsion system 100 employs a so-called rim drive system, in which the rotor 136 of the electric motor 134 is connected to the propeller 132 to rotate the propeller 132, but it is not necessarily limited to this. For example, a marine propulsion system may use a drive system in which the rotation of the electric motor is transmitted to the propeller using a shaft to rotate the propeller.

[0086] The controller does not necessarily require that external devices meet the authentication conditions when rewriting the electrical angle correction value. Similarly, the controller does not necessarily require that the electric motor rotation has stopped when rewriting the electrical angle correction value.

[0087] In the above embodiment, the MCU 150 determines that the electric motor 134 is stopped when its rotational speed is 0 rpm, but it is not necessarily limited to this. For example, the controller may determine that the electric motor is stopped when its rotational speed is below a predetermined threshold. [Explanation of symbols]

[0088] 10: Ship 20: External equipment 22: Display unit 100: Electric propulsion system 101: Propulsion system body 102: Suspension system 104: Tilt shaft 106: Clamp bracket 107: Support part 109: Connection bracket 110: Cowl 120: Lower housing 122: Duct 124: Middle housing 130: Drive unit 132: Propeller 133: Stator fins 134: Electric motor 135: Bearing 136: Rotor 138: Stator 140: Permanent magnet 142: Coil 150: MCU 152: Inverter circuit 154: Memory 160: Sensor 170: Communication interface 200: Hull 210: Main hull section 212: Living space 214: Partition wall 215: Space 216: Transom 220: Cockpit 230: Control device 232: Steering wheel 240: Shift / throttle lever 250: Joystick unit 260: Display device 270: Input device At: Tilt axis L: Propeller rotation axis W: Water surface

Claims

1. A ship propulsion system, Propeller and, An electric motor for rotating the aforementioned propeller, A rotor containing permanent magnets, An electric motor having a stator that includes a plurality of coils arranged in a line along the rotational direction of the rotor and faces the rotor in the radial direction of the rotor, A controller for controlling the drive of the aforementioned electric motor, comprising a controller including memory, A communication device that communicates with external devices, Equipped with, A ship propulsion system comprising a controller that receives correction requests from external devices via the communication device and, based on the correction requests, rewrites the correction values ​​of the electrical angles of the currents flowing through the plurality of coils stored in the memory.

2. A ship propulsion system according to claim 1, The controller is a ship propulsion system that rewrites the correction value, provided that the external device satisfies the authentication conditions.

3. A ship propulsion system according to claim 1 or claim 2, The controller rewrites the correction value, provided that the rotation of the electric motor is stopped.

4. A ship propulsion system according to any one of claims 1 to 3, The controller transmits a completion signal to the external device when the correction value has been rewritten, and is a ship propulsion system.

5. A ship propulsion system according to any one of claims 1 to 4, The controller is a ship propulsion system that receives user input values ​​from an external device and rewrites the correction value based on the input values.

6. A ship propulsion system according to claim 5, The controller maintains the correction value immediately before accepting the correction request when the input value is outside the reference range, for a ship propulsion system.

7. A ship propulsion system according to any one of claims 1 to 6, A ship propulsion system in which, when the controller cancels the rewriting of the correction value, it transmits different signals to the external device depending on the cause of the cancellation.

8. A ship propulsion system according to any one of claims 1 to 7, The memory is a ship propulsion system that stores the initial value of the correction value.

9. A ship propulsion system according to any one of claims 1 to 8, A ship propulsion system comprising a controller that receives a read request from an external device via a communication device and transmits the current value of the correction value stored in the memory to the external device based on the read request.

10. A ship propulsion system according to any one of claims 1 to 9, further, A ship's propulsion system equipped with a sensor for detecting the position of the aforementioned coil.

11. A ship propulsion system according to any one of claims 1 to 10, The rotor is a tubular body and includes a plurality of permanent magnets arranged in a line along the direction of rotation of the rotor. The stator is a tubular body and covers the rotor, in a ship propulsion system.

12. A ship propulsion system according to claim 11, A marine propulsion system in which the rotor covers the propeller and is connected to the propeller.

13. The hull and, A ship propulsion system according to any one of claims 1 to 12, attached to the rear of the hull, A ship equipped with these features.

14. A ship propulsion system, It is an electric motor, A rotor containing permanent magnets, An electric motor having a stator that includes a plurality of coils arranged in a line along the rotational direction of the rotor and faces the rotor in the radial direction of the rotor, A controller for controlling the drive of the aforementioned electric motor, comprising a controller including memory, A communication device that communicates with external devices, Equipped with, A ship propulsion system comprising a controller that receives correction requests from external devices via the communication device and, based on the correction requests, rewrites the correction values ​​of the electrical angles of the currents flowing through the plurality of coils stored in the memory.

Images