Actuator and personal watercraft

Abstract

To correctly control a water flow direction change part such as a reverse gate without disassembling a device for detecting a rotation amount of a motor.SOLUTION: An actuator comprises: a rod driving part that moves a rod, which is connected to a water flow direction change part for changing a direction of an ejection water flow and adjusts an angle of the water flow direction change part by rotation of a motor, back and forth; a sensor which detects a rotation amount of the motor on the basis of magnetic flux change; a determination part which determines whether a driving stroke total amount of the rod falls within a prescribed range or not on the basis of the rotation amount of the motor; and a reference position correction part which corrects a reference position where measurement of the driving stroke total amount is started when the driving stroke total amount does not fall within the prescribed range.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an actuator and a personal water bike. [Background technology]

[0002] Patent Document 1 discloses a technology that allows the jet ski to move forward by controlling the water sprayed from the nozzle so that it is not blocked by the reverse gate, even if a malfunction occurs in the actuator of the reverse gate installed on the hull of the jet ski.

[0003] The actuator disclosed in Patent Document 1 is connected to the end of a rod extending from a reverse gate, and includes a rod drive unit that converts rotational motion into linear motion that causes the rod to move linearly, thereby moving the rod back and forth, a motor that rotates the rod drive unit, and a detection device that detects the amount of rotation of the rod drive unit. The detection device is composed of a potentiometer or the like. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-080041 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the actuator disclosed in Patent Document 1 detects the amount of rotation of the rod drive part using a mechanical detection device. Therefore, if the components that make up the detection device deteriorate, the amount of rotation detected by the detection device will contain errors, making it difficult to accurately control the reverse gate.

[0006] To correct this error, the actuator must be removed from the hull, and the components that make up the detection device must be disassembled and replaced, etc. For this reason, an important issue is how to accurately control water flow direction changing parts such as reverse gates without removing the actuator from the hull once operation has begun.

[0007] An object of the present invention is to provide an actuator and a jet ski that can accurately control a water flow direction changing unit such as a reverse gate without disassembling a device that detects the amount of rotation of a motor. [Means for solving the problem]

[0008] The actuator of the present invention includes a rod drive unit that linearly moves a rod connected to a water flow direction changing unit that changes the direction of the water flow to be sprayed and that adjusts the angle of the water flow direction changing unit by the rotation of a motor, a sensor that detects the amount of rotation of the motor based on a change in magnetic flux, and a motor that moves the rod from a reference position to a first predetermined position based on the amount of rotation of the motor. In the first direction A determination is made as to whether a first total drive stroke amount, which is the sum of the first drive stroke amount of the rod and a manufacturing tolerance, is within a predetermined range corresponding to the first total drive stroke amount when the rod is moved linearly, and when it is determined that the first total drive stroke amount is not within the predetermined range corresponding to the first total drive stroke amount, the rod is moved from the first predetermined position to a second predetermined position based on the rotation amount of the motor. In a second direction that is the opposite direction to the first direction a determining unit that determines whether a second drive stroke total amount, which is the sum of the second drive stroke amount of the rod and a manufacturing tolerance when the rod is moved linearly, is within a predetermined range corresponding to the second drive stroke total amount; and when the second drive stroke total amount is not within the predetermined range corresponding to the second drive stroke total amount, The above and a reference position correction unit that corrects the reference position for starting measurement of the second drive stroke total amount.

[0009] The personal water bike of the present invention includes the actuator described above. Effect of the Invention

[0010] According to the present invention, it is possible to obtain an actuator and a jet ski that can accurately control a water flow direction changing unit such as a reverse gate without disassembling a device that detects the amount of rotation of a motor. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 shows an example of the configuration of a personal water bike 100 according to an embodiment of the present invention. [Diagram 2] FIG. 1 shows an example of the configuration of the propulsion mechanism 3 when the hull 1 is moving forward. [Diagram 3] FIG. 1 shows an example of the configuration of the propulsion mechanism 3 when the hull 1 is in a rearward moving state. [Figure 4] FIG. 1 shows an example of the configuration of an actuator 10. [Diagram 5] FIG. 1 shows a configuration example of a rod driving unit 11. [Figure 6] FIG. 1 shows a configuration example of a rod driving unit 12. [Figure 7] FIG. 2 is a diagram showing an example of the configuration of an ECU 13 according to an embodiment of the present invention. [Figure 8A] 1 is a flowchart for explaining the operation of the actuator 10. [Figure 8B] 1 is a flowchart for explaining the operation of the actuator 10. [Figure 9] FIG. 13 shows an example of the configuration of an ECU 13A that corrects the reference position from which measurement of the drive stroke of rods 11a and 12a is started. [Figure 10A] 1 is a flowchart for explaining the operation of the actuator 10. [Figure 10B] 1 is a flowchart for explaining the operation of the actuator 10. [Figure 10C] 1 is a flowchart for explaining the operation of the actuator 10. [Figure 11] A flowchart for explaining an operation when the forward position PF is set to a predetermined position and then the reverse position PR is set to a predetermined position. [Figure 12A]FIG. 1 is a diagram for explaining an operation when the reverse position PR is set to a predetermined position. [Figure 12B] FIG. 1 is a diagram for explaining an operation when the reverse position PR is set to a predetermined position. [Figure 12C] FIG. 1 is a diagram for explaining an operation when the reverse position PR is set to a predetermined position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0013] [Jet ski 100] 1 is a diagram showing an example of the configuration of a personal water bike 100 according to an embodiment of the present invention. The personal water bike 100 includes a hull 1, a prime mover 2, a propulsion mechanism 3, and an actuator 10.

[0014] [Motor 2] The prime mover 2 is a motor, an internal combustion engine, or the like that drives the propulsion mechanism 3. The prime mover 2 is connected to the propulsion mechanism 3 via a drive shaft 4 provided inside the hull 1.

[0015] [Drive shaft 4] The drive shaft 4 is connected to an impeller shaft 31 extending from the propulsion mechanism 3. The impeller shaft 31 is a shaft for transmitting the rotational force of the prime mover 2 to the impeller.

[0016] [Actuator 10] The actuator 10 is a device for adjusting the angle of a water flow direction changing unit included in the propulsion mechanism 3. The actuator 10 and the water flow direction changing unit will be described in detail later.

[0017] The actuator 10 is connected to the water flow direction changing portion via a rod 11a and a rod 12a. The rods 11a and 12a are forward and backward movable members for adjusting the angle of the water flow direction changing portion.

[0018] [Propulsion mechanism 3] The propulsion mechanism 3 is a mechanism that generates a propulsive force for propelling the hull 1 by drawing in water around the hull 1 using the rotational force of the prime mover 2 and ejecting the drawn-in water.

[0019] Next, an example of the configuration of the propulsion mechanism 3 will be described with reference to Figures 2 and 3. Figure 2 is a diagram showing an example of the configuration of the propulsion mechanism 3 when the hull 1 is in a forward moving state, and Figure 3 is a diagram showing an example of the configuration of the propulsion mechanism 3 when the hull 1 is in a reverse moving state.

[0020] The propulsion mechanism 3 includes an impeller shaft 31, an impeller 32, a nozzle 33, a trim gate 34, and a reverse gate 35.

[0021] [Impeller shaft 31] The impeller shaft 31 is connected to the impeller 32. The impeller 32 is a moving blade that rotates together with the impeller shaft 31 to suck in water and eject the sucked water from a nozzle 33.

[0022] [Nozzle 33] The nozzle 33 is a drain outlet that ejects the water sucked in by the rotation of the impeller 32 in a specific direction.

[0023] [Trim Gate 34] The trim gate 34 is an example of a water flow direction changing section that changes the direction of the water flow sprayed by the nozzle 33 in order to change the inclination angle of the hull 1 shown in Fig. 1 with respect to the horizontal direction. The trim gate 34 is disposed behind the nozzle 33.

[0024] A rod 11a extending from the actuator 10 shown in FIG.

[0025] As the rod 11 a moves back and forth, the trim gate 34 operates to change the direction of the water flow spouting from the nozzle 33 .

[0026] For example, when the rod 11a advances toward the trim gate 34, the outlet of the trim gate 34 tilts downward, so that the water jet ejected from the nozzle 33 flows obliquely downward.

[0027] When the rod 11a retreats from the trim gate 34 toward the actuator 10 shown in FIG. 1, the outlet of the trim gate 34 tilts upward, so that the water jet from the nozzle 33 flows obliquely upward.

[0028] [Reverse Gate 35] The reverse gate 35 is an example of a water flow direction changing section that changes the direction of the water flow spouting from the trim gate 34. The reverse gate 35 is disposed behind the trim gate 34 when looking at the trim gate 34 from the bow of the hull 1.

[0029] A rod 12a extending from the actuator 10 shown in Fig. 1 is connected to the reverse gate 35. When the rod 12a moves back and forth, the reverse gate 35 connected to the rod 12a operates to change the direction of the water flow spouting from the trim gate 34.

[0030] For example, when the rod 12a moves backward from the reverse gate 35 toward the actuator 10 shown in FIG. 1, the reverse gate 35 rotates so as to open the outlet of the trim gate 34, as shown in FIG.

[0031] In this case, the water flow WF ejected from the trim gate 34 flows toward the rear of the hull 1 shown in Fig. 1. This allows the hull 1 to move forward.

[0032] From this state, when the rod 12a advances toward the reverse gate 35, the reverse gate 35 rotates so as to close the outlet of the trim gate 34, as shown in FIG.

[0033] In this case, the water flow WF ejected from the trim gate 34 flows diagonally forward of the hull 1. This allows the hull 1 to move backward.

[0034] Next, a configuration example of the actuator 10 will be described with reference to Fig. 4. Fig. 4 is a diagram showing a configuration example of the actuator 10.

[0035] The actuator 10 includes a rod drive unit 11 that moves the rod 11a back and forth, a rod drive unit 12 that moves the rod 12a back and forth, an ECU (Electronic Control Unit) 13 for controlling the rod drive unit 11 and the rod drive unit 12, and a case 14.

[0036] A rod driving section 11 is connected to the rod 11a, and a rod driving section 12 is connected to the rod 12a.

[0037] Next, the configuration of the rod driving unit 11 will be specifically described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the configuration of the rod driving unit 11.

[0038] [Rod drive part 11] The rod driving section 11 includes a first motor 11b, a rotating member 11c rotated by the first motor 11b, a sensor 11d that detects the amount of rotation of the first motor 11b, and a driving section 11e.

[0039] The first motor 11b is connected to a drive unit 11e. The drive unit 11e includes an output shaft 11e1, a housing 11e2, a reduction gear mechanism (not shown) housed in the housing 11e2, and the like.

[0040] The reduction mechanism is a combination of a worm gear, a worm wheel, and the like for reducing the rotational force of the first motor 11b and transmitting it to the output shaft 11e1.

[0041] A rotating member 11c is connected to the output shaft 11e1, and an end of the rod 11a is coupled to the rotating member 11c. By rotating the rotating member 11c together with the output shaft 11e1, the rotational motion of the first motor 11b can be converted into linear motion in which the rod 11a moves linearly.

[0042] The rotating member 11c is in a neutral position P N The optical disc rotates about the center in a first rotation direction CD, or rotates in a second rotation direction CCD opposite to the first rotation direction.

[0043] Neutral position P N The rotating member 11c is in the up position P U From down position P D This is the intermediate position when rotating to the

[0044] Up position P U is a position where the angle of the trim gate 34 is set to a predetermined angle so that the air outlet of the trim gate 34 shown in FIG. 2 faces obliquely upward.

[0045] Up position P U is equal to the reference position in the rotation direction of the rotating member 11c that is set when, for example, a button (not shown) provided on the personal water bike 100 shown in FIG. 1 is pressed.

[0046] Also, up position P U is the rotational position that is set when the actuator 10 is shipped to a ship hull 1 assembly factory for assembling the actuator 10 to the ship hull 1 shown in FIG. 1, for example.

[0047] Down Position P D is a position where the angle of the trim gate 34 is set to a predetermined angle so that the air outlet of the trim gate 34 shown in FIG. 2 faces diagonally downward.

[0048] The first rotation direction CD is a direction in which the rotation member 11c shown in FIG. 5 is rotated clockwise.

[0049] The rotating member 11c is in the neutral position P N From the first rotation direction CD to the up position P UThe rotation angle θ when the rotating member 11c is rotated to the neutral position P N From the second rotation direction CCD to the down position P D The rotation angle θ is equal to the rotation angle θ when the

[0050] The reference position of the rotating member 11c is set to a predetermined position by a reference position setting unit (to be described later) based on the amount of rotation of the first motor 11b. A method for setting the reference position will be described later in detail.

[0051] The sensor 11d is a rotation amount detection means that detects the amount of rotation of the first motor 11b.

[0052] For example, the sensor 11d detects a change in magnetic flux generated from a rotation amount detection magnet installed in a rotor (not shown) of the first motor 11b, and transmits a voltage corresponding to the change in magnetic flux as a pulse signal to the ECU 13 shown in FIG. 4.

[0053] The rotation amount of the first motor 11b is calculated by the ECU 13 shown in Fig. 4 based on a pulse count value, which is a count value of pulse signals transmitted from the sensor 11d when the first motor 11b rotates. The pulse count value corresponds to the rotation amount of the first motor 11b.

[0054] The amount of rotation of the first motor 11b may be calculated based on the time measured when the first motor 11b rotates, instead of the pulse count value when the first motor 11b rotates.

[0055] In this case, for example, the rotation amount of the first motor 11b is set to 0.5 mm when the rotation member 11c is in the up position P U From down position P D Up to or down position P D From up position P U The rotation time of the first motor 11b is calculated by the ECU 13 shown in FIG. 4 based on the ratio of the rotation time of the first motor 11b to the rotation time up to the

[0056] The sensor 11d is, for example, a Hall IC (Integrated Circuit) built into the first motor 11b. By using the sensor 11d built into the first motor 11b, it is not necessary to secure a space for providing a rotation amount detection means around the first motor 11b. This improves the degree of freedom in designing the actuator 10, and shortens the time required to change the design of the actuator 10.

[0057] In addition, the sensor 11d may use a rotation amount detection means provided outside the first motor 11b instead of the rotation amount detection means built into the first motor 11b. In this case, the rotation amount detection means detects the rotation amount of the rotary shaft of the first motor 11b and transmits a signal indicating the detected rotation amount to the ECU 13.

[0058] Next, a configuration example of the rod driving unit 12 will be described with reference to Fig. 6. Fig. 6 is a diagram showing a configuration example of the rod driving unit 12.

[0059] [Rod drive part 12] The rod driving section 12 includes a second motor 12b, a rotating member 12c rotated by the second motor 12b, a sensor 12d that detects the amount of rotation of the second motor 12b, and a driving section 12e.

[0060] The second motor 12b is connected to a drive unit 12e. The drive unit 12e includes an output shaft 12e1, a housing 12e2, a reduction gear mechanism (not shown) housed in the housing 12e2, and the like.

[0061] The reduction mechanism is a combination of a worm gear, a worm wheel, and the like for reducing the rotational force of the second motor 12b and transmitting it to the output shaft 12e1.

[0062] A rotating member 12c is connected to the output shaft 12e1, and an end of the rod 12a is coupled to the rotating member 12c. By rotating the rotating member 12c together with the output shaft 12e1, the rotational motion of the second motor 12b can be converted into linear motion in which the rod 12a moves linearly.

[0063] The rotating member 12c is in a neutral position P N , then rotates in a first rotation direction CD, or rotates in a second rotation direction CCD opposite to the first rotation direction CD.

[0064] Neutral position P N When the rotating member 12c is in the reverse position P R From forward position P F This is the intermediate position when rotating to the

[0065] Forward position P F is a position where the angle of the reverse gate 35 shown in FIG. 2 is set to a predetermined angle so that the reverse gate 35 opens the outlet of the trim gate 34.

[0066] Reverse position P R is a position where the angle of the reverse gate 35 shown in FIG. 2 is set to a predetermined angle so that the reverse gate 35 closes the outlet of the trim gate 34.

[0067] Reverse position P R is a reference position in the rotation direction of the rotating member 12c that is set when, for example, a button (not shown) provided on the personal water bike 100 shown in FIG. 1 is pressed.

[0068] Also, reverse position P R is, for example, the rotational position that is set when the actuator 10 is shipped to a ship hull 1 assembly factory in order to assemble the actuator 10 to the ship hull 1 shown in FIG.

[0069] The first rotation direction CD is a direction in which the rotation member 12c shown in FIG. 6 is rotated clockwise.

[0070] The rotating member 12c is in the neutral position P N from the first rotation direction CD to the reverse position PR The rotation angle θ when the rotating member 12c is rotated to the neutral position P N From the second rotation direction toward the CCD, the forward position P F The rotation angle θ is equal to the rotation angle θ when the

[0071] The reference position of the rotating member 12c is set to a predetermined position by a reference position setting unit, which will be described later, based on the amount of rotation of the second motor 12b.

[0072] The sensor 12d is a rotation amount detection means that detects the amount of rotation of the second motor 12b.

[0073] For example, the sensor 12d detects a change in magnetic flux generated from a rotation amount detection magnet installed in a rotor (not shown) of the second motor 12b, and transmits a voltage corresponding to the change in magnetic flux as a pulse signal to the ECU 13 shown in FIG. 4.

[0074] The rotation amount of the second motor 12b is calculated by the ECU 13 shown in Fig. 4 based on a pulse count value, which is a count value of pulse signals transmitted from the sensor 12d when the second motor 12b rotates. The pulse count value corresponds to the rotation amount of the second motor 12b.

[0075] The amount of rotation of the second motor 12b may be calculated based on the time measured when the second motor 12b rotates, instead of the pulse count value when the second motor 12b rotates.

[0076] In this case, for example, the rotation amount of the second motor 12b is set to 0.5 mm when the rotating member 12c is in the forward position P F From reverse position P R or reverse position P R From forward position P F The rotation time of the second motor 12b is calculated by the ECU 13 shown in FIG. 4 based on the ratio of the rotation time of the second motor 12b to the rotation time up to the start of the rotation.

[0077] The sensor 12d is, for example, a Hall IC built into the second motor 12b. By using the sensor 12d built into the second motor 12b, it is not necessary to secure a space for providing a rotation amount detection means around the second motor 12b. This improves the degree of freedom in designing the actuator 10, and shortens the time required to change the design of the actuator 10.

[0078] Note that, instead of the rotation amount detection means built into the second motor 12b, the sensor 12d may be a rotation amount detection means provided outside the second motor 12b. In this case, the rotation amount detection means detects the amount of rotation of the rotary shaft of the second motor 12b and transmits a signal indicating the detected amount of rotation to the ECU 13.

[0079] Next, a configuration example of the ECU 13 will be described with reference to Fig. 7. Fig. 7 is a diagram showing a configuration example of the ECU 13 according to an embodiment of the present invention.

[0080] [ECU13] The ECU 13 is configured with a microcomputer including a CPU (Central Processing Unit), a memory, etc. The ECU 13 includes a determination processing unit 13A and a storage unit 13d. The determination processing unit 13A includes a first motor control unit 13a, a second motor control unit 13b, and a reference position setting unit 13c.

[0081] [First motor control unit 13a] The first motor control unit 13a adjusts the rotation amount of the first motor 11b based on a trim operation signal transmitted from a trim operation unit (not shown). The trim operation unit (not shown) is a switch operated by a person to adjust the angle of the trim gate 34 shown in FIG.

[0082] [Second motor control unit 13b] The second motor control unit 13b adjusts the rotation amount of the second motor 12b based on a nozzle operation signal sent from a nozzle operation unit (not shown). The nozzle operation unit is a switch for setting the angle of the reverse gate 35 shown in FIG. 2 to a forward shift position, a reverse shift position, etc.

[0083] Setting the forward shift position means setting the rotational position of the rotating member 12c shown in FIG. F The key is to set it to

[0084] Setting the reverse shift position means changing the rotational position of the rotating member 12c shown in FIG. R The key is to set it to

[0085] [Storage section 13d] The memory unit 13d stores the neutral position P N , Up Position P U , and down position P D The information indicating the above and other information are stored.

[0086] The memory unit 13d also stores the neutral position P N , forward position P F , and reverse position P R The information indicating the above and other information are stored.

[0087] Furthermore, the storage unit 13d stores a pulse count value obtained by counting the number of pulse signals transmitted from the sensor 11d, and a pulse count value obtained by counting the number of pulse signals transmitted from the sensor 12d.

[0088] [Reference position setting section 13c] The reference position setting unit 13c sets the reference position in the rotation direction of the rod driving unit 11 shown in FIG. 5 to the up position P UThe reference position setting unit 13c sets the up position P stored in the storage unit 13d to a predetermined position. U Update information about in place.

[0089] Further, the reference position setting unit 13c sets the reverse position P 1 , which is the reference position in the rotation direction of the rod driving unit 12 shown in FIG. 6, based on the rotation amount of the second motor 12b. R The reference position setting unit 13c sets the reverse position P R Update information about in place.

[0090] 8A and 8B, the operation of the actuator 10 will be described. Here, the operation of the actuator 10 will be described when the reference position in the rotation direction of the rod driving part 11 shown in FIG. 5 is set to a predetermined position.

[0091] 8A and 8B are flow charts for explaining the operation of actuator 10. FIG.

[0092] 8A, the reference position setting unit 13c controls the first motor control unit 13a to rotate the rotation member 11c in the first rotation direction CD. After that, the reference position setting unit 13c executes the process of step S2.

[0093] In step S2, the reference position setting unit 13c measures a pulse count value based on the pulse signal transmitted from the sensor 11d while rotating the rotating member 11c in the first rotation direction CD. After that, the reference position setting unit 13c executes the process of step S3.

[0094] In step S3, the reference position setting unit 13c determines whether or not a restraint current has been detected.

[0095] The restraint current is a current that is detected when the current flowing through the first motor 11b increases to a predetermined value when, for example, the rotating member 11c rotating in the first rotation direction CD rotates to a stop position where it cannot be driven and the first motor 11b is in an overload state.

[0096] The current flowing through the first motor 11b is detected by a current sensor (not shown) built into the actuator 10, for example.

[0097] If the current detected by a current sensor not shown is below a predetermined value, the reference position setting unit 13c determines that a restraint current has not been detected, and if the current exceeds the predetermined value, it determines that a restraint current has been detected.

[0098] When the restraint current is not detected (step S3, NO), the reference position setting unit 13c repeats the processes from step S1 onwards.

[0099] When a restraint current is detected (step S3, YES), the reference position setting unit 13c executes the process of step S4.

[0100] If a locking current is detected, in step S4, the reference position setting unit 13c determines that the rotating member 11c has rotated to the abutting position, and resets to zero the pulse count value measured until the locking current is detected.

[0101] In step 3, the reference position setting unit 13c may detect a Hall sensor signal instead of the locking current as long as it can determine that the first motor 11b is in an overload state. The Hall sensor is a sensor that detects a change in magnetic flux generated from a magnet provided in the first motor 11b. The Hall sensor signal is a signal corresponding to the change in magnetic flux.

[0102] In this case, if the Hall sensor signal is not interrupted, the reference position setting unit 13c repeats the process from step S1 onwards, and if the Hall sensor signal is interrupted, it determines that the first motor 11b is in an overload state and executes the process of step S4. After that, the reference position setting unit 13c executes the process of step S5.

[0103] In step S5, the reference position setting unit 13c sets the position where the pulse count value is reset to 0 as the abutment position. After that, the reference position setting unit 13c executes the process of step S6.

[0104] In step S6, the reference position setting unit 13c measures a pulse count value based on the pulse signal transmitted from the sensor 11d while rotating the rotating member 11c in the second rotation direction CCD. After that, the reference position setting unit 13c executes the process of step S7.

[0105] In step S7, the reference position setting unit 13c determines whether or not the pulse count value has reached a first specified value.

[0106] The first specified value is a value for setting the position where the rotation member 11c is rotated in the second rotation direction CCD to a position a predetermined distance away from the abutting position as the reference position of the rotation member 11c described above.

[0107] If the pulse count value has not reached the first specified value (step S7, NO), the reference position setting unit 13c repeats the processes from step S6 onwards.

[0108] When the pulse count value reaches the first specified value (step S7, YES), the reference position setting unit 13c executes the process of step S8 shown in FIG. 8B.

[0109] When the pulse count value reaches the first specified value, the reference position setting unit 13c stops the rotation of the rotating member 11c in step S8. After that, the reference position setting unit 13c executes the process of step S9.

[0110] In step S9, the reference position setting unit 13c sets the position where the rotation of the rotation member 11c is stopped as the above-mentioned reference position. U is set as the reference position. After that, the reference position setting unit 13c executes the process of step S10.

[0111] In step S10, the reference position setting unit 13c stores the pulse count value measured until the reference position is set in the storage unit 13d.

[0112] For example, when a button (not shown) of the personal watercraft 100 shown in Fig. 1 is pressed and then the trim operation unit described above is operated so that the air outlet of the trim gate 34 faces diagonally upward, the first motor control unit 13a shown in Fig. 7 reads out the pulse count value stored in the memory unit 13d. Then, the first motor control unit 13a sets the rotational position of the rotating member 11c to a reference position based on the read pulse count value. This controls the trim gate 34 so that the air outlet of the trim gate 34 is tilted diagonally upward.

[0113] After the process of step S10, the reference position setting unit 13c executes the process of step S11.

[0114] In step S11, the reference position setting unit 13c restarts the rotation of the rotating member 11c in the second rotation direction toward the CCD. After that, the reference position setting unit 13c executes the process of step S12.

[0115] In step S12, the reference position setting unit 13c determines whether or not the pulse count value has reached a second specified value.

[0116] The second specified value is the position where the rotating member 11c rotates in the second rotation direction CCD to a position a predetermined distance away from the reference position set in step S9, which is the neutral position P N This is the value to set.

[0117] If the pulse count value has not reached the second specified value (step S12, NO), the reference position setting unit 13c repeats the processes from step S11 onwards.

[0118] If the pulse count value reaches the second specified value (step S12, YES), the reference position setting unit 13c executes the process of step S13.

[0119] When the pulse count value reaches the second specified value, in step S13, the reference position setting unit 13c stops the rotation of the rotating member 11c, and then executes the process of step S14.

[0120] In step S14, the reference position setting unit 13c sets the position where the rotation of the rotating member 11c is stopped as the neutral position P N After that, the reference position setting unit 13c executes the process of step S15.

[0121] In step S15, the reference position setting unit 13c sets the neutral position P N The pulse count value measured until the reference position setting unit 13c sets the reference position is stored in the storage unit 13d. After that, the reference position setting unit 13c ends the series of processes.

[0122] For example, when a button (not shown) provided on the personal watercraft 100 shown in FIG. 1 is pressed, the first motor control unit 13a shown in FIG. 7 reads out the pulse count value stored in the memory unit 13d. Then, the first motor control unit 13a changes the rotational position of the rotating member 11c to the up position P based on the read pulse count value. U Set to.

[0123] Although a method for setting the reference position of the rotating member 11c has been described with reference to FIGS. 8A and 8B, a method for setting the reference position of the rotating member 12c is similar, and therefore description thereof will be omitted.

[0124] Next, a configuration example of the ECU 13 that corrects the reference position at which measurement of the drive stroke amount of the rods 11a and 12a is started will be described with reference to Fig. 9. Fig. 9 is a diagram showing a configuration example of the ECU 13 that corrects the above-mentioned reference position.

[0125] [ECU13] The ECU 13 is configured with a microcomputer including a CPU, a memory, etc. The ECU 13 includes a judgment processing unit 13B instead of the above-described judgment processing unit 13A. The judgment processing unit 13B includes a judgment unit 13e and a reference position correction unit 13f in addition to the above-described first motor control unit 13a, second motor control unit 13b, and reference position setting unit 13c.

[0126] [Judgment section 13e] The determination unit 13e determines whether or not the total driving stroke amount of the rod 11a connected to the rotating member 11c of the rod driving unit 11 shown in FIG. 5 is within a predetermined range, based on the rotation amount of the first motor 11b.

[0127] Furthermore, the determination unit 13e determines whether or not the total driving stroke amount of the rod 12a connected to the rotating member 12c of the rod driving unit 12 shown in FIG. 6 is within a predetermined range, based on the rotation amount of the second motor 12b.

[0128] [Reference position correction section 13f] When the total driving stroke amount of the rod 11a is not within a predetermined range as a result of the judgment by the judgment unit 13e, the reference position correction unit 13f corrects the reference position at which the measurement of the total driving stroke amount of the rod 11a is started. U is equivalent to.

[0129] In addition, when the result of the judgment by the judgment unit 13e is that the total driving stroke amount of the rod 12a is not within a predetermined range, the reference position correction unit 13f corrects the reference position at which the measurement of the total driving stroke amount of the rod 12a is started. The reference position is the reverse position P R is equivalent to.

[0130] Next, the operation of the actuator 10 having the ECU 13 shown in FIG. 9 will be described with reference to FIGS. 10A, 10B, and 10C.

[0131] In this example, the rotation member 12c is rotated to the reverse position P R An example of the operation of the actuator 10 when correcting the above will be described.

[0132] 10A, 10B, and 10C are flow charts for explaining the operation of the actuator 10. FIG.

[0133] In step S21 shown in Fig. 10A, the reference position correction unit 13f determines whether or not the prime mover 2 has stopped. For example, when a button (not shown) provided on the personal watercraft 100 shown in Fig. 1 is pressed, the reference position correction unit 13f determines that the prime mover 2 has stopped.

[0134] If the prime mover 2 is not stopped (step S21, NO), the reference position correction unit 13f repeats the processes from step S21 onwards.

[0135] When the prime mover 2 has stopped (step S21, YES), the reference position correction unit 13f executes the process of step S22.

[0136] In step S22, the reference position correction unit 13f first changes the rotation position of the rotation member 12c to the reverse position P R and rotate the rotating member 12c to the reverse position P R After that, the reference position correction unit 13f executes the process of step S23.

[0137] In step S23, the reference position correction unit 13f controls the second motor control unit 13b to correct the abutment position P RE The rotation member 12c is rotated in a first rotation direction CD toward the target object.

[0138] Stop position P REis the maximum rotation position of the rotation member 12c in the first rotation direction CD. After that, the reference position correction unit 13f executes the process of step S24.

[0139] In step S24, the reference position correction unit 13f measures a pulse count value based on the pulse signal transmitted from the sensor 12d while rotating the rotating member 12c in the first rotation direction CD. After that, the reference position correction unit 13f executes the process of step S25.

[0140] In step S25, the reference position corrector 13f determines whether or not a restraint current has been detected.

[0141] The restraint current is generated when the rotating member 12c rotating in the first rotation direction CD reaches the abutment position P RE When the second motor 12b is rotated to the maximum, if the second motor 12b is in an overload state, the current flowing through the second motor 12b increases to a predetermined value, which is detected as the current flowing through the second motor 12b. The current flowing through the second motor 12b is detected by, for example, a current sensor (not shown) built into the actuator 10.

[0142] If the current detected by a current sensor not shown is below a predetermined value, the reference position correction unit 13f determines that a restraint current has not been detected, and if the current exceeds the predetermined value, it determines that a restraint current has been detected.

[0143] When the constraint current is not detected (step S25, NO), the reference position correction unit 13f repeats the processes from step S23 onwards.

[0144] When a constraint current is detected (step S25, YES), the reference position correction unit 13f executes the process of step S26.

[0145] When the locking current is detected, in step S26, the reference position correction unit 13f corrects the rotation member 12c to the abutment position P REBased on the pulse count value measured until the detection of the restraint current, the rotation amount of the rotating member 12c, i.e., the reverse position P of the rotating member 12c is determined. R From the striking position P RE The first drive stroke amount is calculated.

[0146] In step S25, when the Hall sensor signal is interrupted, the reference position correction unit 13f determines whether the rotating member 12c is at the abutment position P RE The determination unit 13e may determine an overload state of the second motor 12b that occurs when the load reaches the load limit 13c. After that, the determination unit 13e executes the process of step S27.

[0147] In step S27, the judgment unit 13e calculates the total first driving stroke amount by adding the first driving stroke amount calculated in step S26 to the manufacturing tolerances of the actuator 10, etc., and judges whether the upper limit value of the total first driving stroke amount exceeds a predetermined range.

[0148] When the upper limit value of the first driving stroke total amount does not exceed the predetermined range (step S27, NO), the reference position correction unit 13f executes the processes of step S38 and the following steps shown in FIG. 10C.

[0149] For example, if the predetermined range is 10.0 mm to 9.0 mm and the upper limit value of the first drive stroke total amount is 9.5 mm, it can be said that the upper limit value of the first drive stroke total amount falls within the predetermined range.

[0150] However, since the lower limit value of the first driving stroke total amount is unknown here, the reference position correction unit 13f executes the process of step S38 and the subsequent steps shown in Fig. 10C to check whether the lower limit value of the first driving stroke total amount is within a predetermined range. The process of step S38 and the subsequent steps will be described later.

[0151] If the upper limit value of the first drive stroke total amount exceeds the predetermined range (step S27, YES), the reference position correction unit 13f executes processing from step S28 shown in Figure 10B to identify the cause why the upper limit value of the first drive stroke total amount exceeds the predetermined range.

[0152] The cause of this is the increase in the pulse count value due to noise generated by the prime mover 2, etc. R The striking position P FE These include malfunction of the actuator 10 due to misalignment to the side or the getting of a foreign object.

[0153] For example, when the predetermined range is 10.0 mm to 9.0 mm and the upper limit of the first drive stroke total amount is 10.5 mm, the reference position correction unit 13f corrects the reverse position P R is the striking position P FE It is determined that the position is slightly shifted to the left or right side.

[0154] Stop position P FE is the maximum rotation position of the rotating member 12c in the second rotation direction toward the CCD.

[0155] 10B, the reference position correcting unit 13f resets the pulse count value measured until the detection of the constraint current to 0. After that, the reference position correcting unit 13f executes the process of step S29.

[0156] In step S29, the reference position correction unit 13f controls the second motor control unit 13b to move the rotating member 12c to the abutment position P FE Then, the reference position correcting unit 13f executes the process of step S30.

[0157] In step S30, the reference position correction unit 13f measures a pulse count value based on the pulse signal transmitted from the sensor 12d while rotating the rotating member 12c in the second rotation direction CCD. After that, the reference position correction unit 13f executes the process of step S31.

[0158] In step S31, the reference position correction unit 13f determines whether or not a restraint current has been detected.

[0159] The fixed current is generated when the rotating member 12c rotating in the second rotation direction CCD reaches the abutment position P FE When the second motor 12b rotates to the predetermined value, the current flowing through the second motor 12b increases to a predetermined value, and this current is detected.

[0160] The reference position correction unit 13f determines that a restraint current has not been detected when the detected current is equal to or less than a predetermined value, and determines that a restraint current has been detected when the detected current exceeds the predetermined value.

[0161] When the constraint current is not detected (step S31, NO), the reference position correction unit 13f repeats the processes from step S29 onwards.

[0162] When a constraint current is detected (step S31, YES), the reference position correction unit 13f executes the process of step S32.

[0163] When the locking current is detected, in step S32, the reference position correction unit 13f corrects the rotation member 12c to the abutment position P FE Based on the pulse count value measured until the detection of the restraint current, the rotation amount of the rotating member 12c, i.e., the abutment position P RE From the striking position P FE The second drive stroke amount is calculated.

[0164] In step S31, when the Hall sensor signal is interrupted, the reference position correction unit 13f determines whether the rotating member 12c is at the abutment position P FE The determination unit 13e may determine an overload state of the second motor 12b that occurs when the load reaches the load limit 13. Thereafter, the determination unit 13e executes the process of step S33.

[0165] Next, in step S33, the judgment unit 13e calculates the total second driving stroke amount by adding the second driving stroke amount calculated in step S32 to the manufacturing tolerances of the actuator 10, etc., and judges whether the upper limit value of the total second driving stroke amount exceeds a predetermined range.

[0166] When the upper limit value of the second driving stroke total amount does not exceed the predetermined range (step S33, YES), the process of step S is executed.

[0167] In step S34, the reference position correction unit 13f corrects the abutting position P FE It is determined that the actuator 10 is malfunctioning due to a foreign object being caught nearby or due to jamming of the gears constituting the reduction mechanism described above.

[0168] For example, when the predetermined range is 50.0 mm to 48.0 mm and the upper limit value of the second driving stroke total amount is 40.0 mm, the reference position correction unit 13f determines that the actuator 10 is malfunctioning. In other words, the reference position correction unit 13f determines that the cause of the position deviation is the malfunction of the actuator 10.

[0169] Thereafter, the reference position correction unit 13f executes the process of step S35.

[0170] In step S35, the reference position correction unit 13f, for example, moves the rotating member 12c to the abutment position P RE After that, the reference position correction unit 13f executes the process of step S36.

[0171] In step S36, the reference position correction unit 13f determines whether or not a restraint current has been detected.

[0172] The restraint current is generated when the rotating member 12c reaches the abutting position P RE When the second motor 12b rotates to the predetermined value, the current flowing through the second motor 12b increases to a predetermined value, and this current is detected.

[0173] When the constraint current is not detected (step S36, NO), the reference position correction unit 13f repeats the processes from step S35 onwards.

[0174] If a locking current is detected (step S36, YES), inspection or replacement of the actuator 10 is required, so the reference position correction unit 13f ends the series of processes without requesting the reference position setting unit 13c to correct the reference position.

[0175] In step S36, when the Hall sensor signal is interrupted, the reference position correction unit 13f determines whether the rotating member 12c is at the abutment position P RE An overload state of the second motor 12b that occurs when the load reaches the maximum load may be determined.

[0176] Returning to step S33 shown in FIG. 10B, if the upper limit value of the second driving stroke total amount exceeds the predetermined range (step S33, NO), the reference position correction unit 13f determines that the pulse count value has increased due to the influence of noise generated by, for example, the prime mover 2, and the reference position of the rotating member 12c has shifted.

[0177] For example, when the predetermined range is 50.0 mm to 48.0 mm and the upper limit of the second driving stroke total amount is 50.5 mm, the reference position corrector 13f determines that the reference position of the rotating member 12c is shifted by about 0.5 mm.

[0178] In this case, the reference position correction unit 13f executes the process of step S37.

[0179] In step S37, the reference position correction unit 13f transmits a signal to the reference position setting unit 13c requesting the correction of the reference position.

[0180] The reference position setting unit 13c that has received the signal determines the reverse position P of the rod driving unit 12 based on the amount of rotation of the second motor 12b obtained by counting the pulse signal detected by driving the rod driving unit 12. R Fix.

[0181] Next, the process from step S38 onward shown in FIG. 10C will be described.

[0182] In step S38, the determination unit 13e determines whether or not the lower limit value of the first driving stroke total amount calculated in step S27 shown in FIG. 10A is within a predetermined range.

[0183] When the lower limit value of the first driving stroke total amount is within the predetermined range (step S38, YES), the reference position correction unit 13f determines that the reference position of the rotating member 12c has not shifted, and executes the process of step S39.

[0184] For example, if the predetermined range is 10.0 mm to 9.0 mm and the lower limit of the first drive stroke total amount is 9.1 mm, it can be said that the lower limit of the first drive stroke total amount is within the predetermined range. In this case, the reference position correction unit 13f determines that the reference position of the rotating member 12c is not shifted.

[0185] In step S39, the reference position correction unit 13f moves the rod driving unit 12 to the reverse position P without transmitting a signal requesting the reference position setting unit 13c to correct the reference position. R Then, the series of processes is completed.

[0186] Returning to step S38, if the lower limit value of the first drive stroke total amount is not within the specified range (step S38, NO), the reference position correction unit 13f executes processing of step S40 to identify the cause why the lower limit value of the first drive stroke total amount is not within the specified range.

[0187] The cause of this is the decrease in the pulse count value due to noise generated by the prime mover 2, etc. R The striking position P RE These include malfunction of the actuator 10 due to misalignment to the side or the getting of a foreign object.

[0188] For example, when the predetermined range is 10.0 mm to 9.0 mm and the lower limit of the first drive stroke total amount is 8.5 mm, the reference position correction unit 13f corrects the reverse position P R is the striking position P RE It is determined that the position is slightly shifted to the left or right side.

[0189] In step S40, the reference position correction unit 13f resets the pulse count value measured in step S30 shown in Fig. 10B to 0. After that, the reference position correction unit 13f executes the process of step S41.

[0190] In step S41, the reference position correction unit 13f controls the second motor control unit 13b to move the rotating member 12c to the abutment position P FE Then, the reference position correcting unit 13f rotates the CCD in the second rotation direction toward the CCD 13. Thereafter, the reference position correcting unit 13f executes the process of step S42.

[0191] In step S42, the reference position correction unit 13f measures a pulse count value based on the pulse signal transmitted from the sensor 12d while rotating the rotating member 12c in the second rotation direction CCD. After that, the reference position correction unit 13f executes the process of step S43.

[0192] In step S43, the reference position correction unit 13f determines whether or not a restraint current has been detected.

[0193] The fixed current is generated when the rotating member 12c rotating in the second rotation direction CCD reaches the abutment position P FE When the second motor 12b rotates to the predetermined value, the current flowing through the second motor 12b increases to a predetermined value, and this current is detected.

[0194] When the constraint current is not detected (step S43, NO), the reference position correction unit 13f repeats the processes from step S41 onwards.

[0195] When a constraint current is detected (step S43, YES), the reference position correction unit 13f executes the process of step S44.

[0196] When the locking current is detected, in step S44, the reference position correction unit 13f corrects the rotation member 12c to the abutment position P FE Based on the pulse count value measured until the detection of the restraint current, the rotation amount of the rotating member 12c, i.e., the abutment position P RE From the striking position P FE The second drive stroke amount is calculated.

[0197] In step S43, when the Hall sensor signal is interrupted, the reference position correction unit 13f determines whether the rotating member 12c is at the abutment position P FE The determination unit 13e may determine an overload state of the second motor 12b that occurs when the load reaches the load limit 13. Thereafter, the determination unit 13e executes the process of step S45.

[0198] In step S45, the judgment unit 13e calculates the total second driving stroke amount by adding the second driving stroke amount calculated in step S44 to the manufacturing tolerances of the actuator 10, etc., and judges whether the upper limit value of the total second driving stroke amount exceeds a predetermined range.

[0199] When the upper limit value of the second driving stroke total amount does not exceed the predetermined range (step S45, YES), the process of step S46 is executed.

[0200] In step S46, the reference position correction unit 13f detects the abutment position P FE The opposite end position P RE It is determined that the actuator 10 is malfunctioning due to a foreign object being caught nearby or due to jamming of the gears constituting the reduction mechanism described above.

[0201] For example, when the predetermined range is 50.0 mm to 48.0 mm and the upper limit value of the second drive stroke total amount is 40.0 mm, the reference position correction unit 13f determines that the actuator 10 is malfunctioning.

[0202] Thereafter, the reference position correction unit 13f executes the process of step S47.

[0203] In step S47, the reference position correction unit 13f, for example, moves the rotating member 12c to the abutment position P RE After that, the reference position correction unit 13f executes the process of step S48.

[0204] In step S48, the reference position correction unit 13f determines whether or not a locking current is detected. In step S48, the reference position correction unit 13f may determine that the second motor 12b is in an overload state when the Hall sensor signal is interrupted.

[0205] The restraint current is generated when the rotating member 12c reaches the abutting position P RE When the second motor 12b rotates to the predetermined value, the current flowing through the second motor 12b increases to a predetermined value, and this current is detected.

[0206] When the constraint current is not detected (step S48, NO), the reference position correction unit 13f repeats the processes from step S47 onwards.

[0207] If a locking current is detected (step S48, YES), inspection or replacement of the actuator 10 is required, so the reference position correction unit 13f ends the series of processes without requesting the reference position setting unit 13c to correct the reference position.

[0208] Returning to step S45, if the upper limit value of the second drive stroke total amount exceeds the predetermined range (step S45, NO), the reference position correction unit 13f determines that the pulse count value has decreased due to the influence of noise generated, for example, by the prime mover 2, and the reference position of the rotating member 12c has shifted.

[0209] For example, when the predetermined range is 50.0 mm to 48.0 mm and the upper limit of the second driving stroke total amount is 50.5 mm, the reference position corrector 13f determines that the reference position of the rotating member 12c is shifted by about 0.5 mm.

[0210] In this case, the reference position correction unit 13f executes the process of step S49.

[0211] In step S49, the reference position correction unit 13f transmits a signal to the reference position setting unit 13c requesting the correction of the reference position.

[0212] The reference position setting unit 13c that has received the signal determines the reverse position P of the rod driving unit 12 based on the amount of rotation of the second motor 12b obtained by counting the pulse signal detected by driving the rod driving unit 12. R Fix.

[0213] As described above, the actuator 10 according to this embodiment is equipped with a sensor that detects the amount of rotation of the motor based on changes in magnetic flux, and is configured to determine whether the total amount of driving stroke of the rod is within a predetermined range based on the amount of rotation, and to correct the reference position for starting measurement of the amount of driving stroke if the total amount of driving stroke is not within the predetermined range.

[0214] In conventional technology, a mechanical potentiometer or the like is used as a detection device for detecting the amount of rotation of the rod drive unit, and errors in the amount of rotation occur due to deterioration of the parts that make up the detection device.

[0215] In contrast, the actuator 10 in this embodiment is equipped with a sensor that detects the amount of rotation of the motor based on changes in magnetic flux, eliminating errors in the amount of rotation and making it possible to accurately control the water flow changing unit without removing the actuator from the hull once operation has begun.

[0216] Furthermore, the actuator 10 according to this embodiment is configured to determine whether the total driving stroke amount of the rod is within a predetermined range, and if the total driving stroke amount is not within the predetermined range, to correct the reference position for starting to measure the driving stroke amount. Therefore, even if the pulse count value fluctuates due to the influence of noise generated by the prime mover 2, etc., it is possible to obtain an effect that after diagnosing whether the total driving stroke amount of the rod is within the predetermined range, if the result of the diagnosis shows that the total driving stroke amount is not within the predetermined range, the reference position for starting to measure the driving stroke amount of the water flow changer can be easily corrected.

[0217] It should be noted that, for example, the following aspects are also understood to fall within the technical scope of the present disclosure.

[0218] (1) The actuator is connected to a water flow direction changing unit that changes the direction of the sprayed water flow, and is equipped with a rod driving unit that moves a rod back and forth to adjust the angle of the water flow direction changing unit by rotating a motor, a sensor that detects the amount of rotation of the motor based on changes in magnetic flux, a determination unit that determines whether the total driving stroke amount of the rod is within a predetermined range based on the amount of rotation of the motor, and a reference position correction unit that corrects the reference position for starting measurement of the total driving stroke amount if the total driving stroke amount is not within the predetermined range.

[0219] (2) The sensor is a Hall IC built into the motor.

[0220] (3) The water flow direction changing unit is a reverse gate that moves a hull on which the actuator is mounted forward or backward.

[0221] (4) The water flow direction changing unit is a trim gate that changes the inclination angle of the hull on which the actuator is mounted relative to the horizontal direction.

[0222] (5) The jet ski is equipped with the above actuator.

[0223] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to the examples. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope described in the present disclosure, and it is understood that these also naturally belong to the technical scope of the present disclosure. In addition, the components in the above-mentioned embodiments may be arbitrarily combined within the scope of the present disclosure.

[0224] In this embodiment, the reference position is the up position P U Or reverse position P R The above describes the case where the up position P is set to a predetermined position. U Or reverse position P R The predetermined position is not limited to, for example, the up position P U Or reverse position P R Instead, neutral position P N or down position P D Or forward position P F may be also possible.

[0225] For example, the forward position P F When the actuator 10 is set to a predetermined position, the actuator 10 is in the reverse position P R A control similar to the control for setting the predetermined position is performed after power is applied to the hull 1.

[0226] In this way, the forward position P F 2 is retracted into the hull 1. In this case, the reverse gate 35 rotatably supported by the trim gate 34 rotates counterclockwise so as to enter a gap formed in the hull 1.

[0227] Therefore, even if there is a person around the reverse gate 35, the reference position for starting measurement of the driving stroke amount of the rod 12a can be set to a specified position more safely than when the reverse gate 35 rotates clockwise (see Figure 3).

[0228] The actuator 10 is set at a forward position P as a reference position for starting measurement of the driving stroke amount of the rod 12a. F After the rotation member 12c shown in FIG. 6 starts to rotate in the first rotation direction CD by the user's operation after being set to a predetermined position, the reverse position P R may be set at a predetermined position.

[0229] The setting operation in this case will be described with reference to FIGS. 11, 12A, 12B, and 12C.

[0230] Figure 11 shows the forward position P F After being set in the desired position, reverse position P R 12A, 12B, and 12C are flowcharts for explaining the operation when the reverse position P is set to a predetermined position. R 13 is a diagram for explaining the operation when is set to a predetermined position.

[0231] Reverse position P R When a user presses a button (not shown) provided on the personal watercraft 100 shown in FIG. 1 in order to set the reference position, the reference position setting unit 13c executes the process of step S50.

[0232] In step S50, the reference position setting unit 13c sets the target stop position P ST (See FIG. 12A) and set the target stop position P ST The rotation member 12c is rotated in the first rotation direction CD toward the target stop position P STis equal to the rotational position of the rotating member 12c when the rod 12a in the state not connected to the reverse gate 35 shown in FIG. 2 is moved to the most forward position.

[0233] At this time, the reference position setting unit 13c measures a pulse count value based on the pulse signal transmitted from the sensor 11d while rotating the rotating member 12c.

[0234] Next, in step S51, if the pulse count value has not reached a predetermined value, the reference position setting unit 13c determines whether the rotating member 12c is at the stop target position P ST If it is determined that the pulse count value has not reached the predetermined value, the rotating member 12c is stopped at the target stop position P ST is determined to have been reached.

[0235] The rotating member 12c stops at the target position P ST If it has not been reached (step S51, NO), the reference position setting unit 13c executes the process of step S52.

[0236] In step S52, the reference position setting unit 13c determines whether the rotating member 12c is at the stop target position P ST It is determined whether or not a restraint current is detected before reaching

[0237] The restraint current is a current that is detected when the current flowing through the second motor 12b rises to a predetermined value when the second motor 12b is in an overload state. If the current is equal to or less than the predetermined value, the reference position setting unit 13c determines that the restraint current has not been detected, and if the current exceeds the predetermined value, the reference position setting unit 13c determines that the restraint current has been detected.

[0238] When the restraint current is not detected (step S52, NO), the reference position setting unit 13c repeats the processes from step S50 onwards.

[0239] When a restraining current is detected (step S52, YES), the reference position setting unit 13c determines whether the rotating member 12c reaches the hull abutting position P before the pulse count value reaches a predetermined value.T (See FIG. 12B).

[0240] Hull abutment position P T is equal to the rotational position of the rotating member 12c when the rod 12a connected to the reverse gate 35 shown in FIG. 2 moves forward to the maximum. T is the target stop position P ST is a predetermined distance away from the second rotation direction CCD.

[0241] Next, in step S53, the reference position setting unit 13c rotates the rotating member 12c in the second rotation direction CCD until the counted pulse count value reaches a predetermined value (e.g., 20 pulses), as shown in FIG. 12C, and then stops the rotation of the rotating member 12c.

[0242] The predetermined value is set to a value at which no restraining current is generated and no control failure occurs in the actuator 10. The control failure occurs when the pressure of the water flowing out of the nozzle 33 shown in Fig. 2 acts on the actuator 10 via the reverse gate 35 and the rod 12a.

[0243] Next, in step S54, the reference position setting unit 13c sets the rod driving unit 12 to the reverse position P R Specifically, the reference position setting unit 13c updates the stop position P at which the rotation of the rotating member 12c is stopped. T1 2, the reverse position P , which is the reference position in the rotation direction of the rod drive unit 12 R This sets the reverse position P R is the hull abutting position P T A predetermined position based on the stop position P T1 ) will be updated.

[0244] Reverse position P R After the update, the user turns off the power to the vessel 1 and then shifts the vessel 1 to the reverse position P RWhen the operation of setting the reverse position P to the reference position is performed, the process of step S50 is executed. As a result, the rotation member 12c is set to the updated reverse position P R , and rotates in a first rotation direction CD toward the target.

[0245] As mentioned above, the reverse position P R is the stop position P T1 , so in step S51, the reference position setting unit 13c sets the stop position P T1 is set as a target stop position, and it is determined whether the rotating member 12c has reached the target stop position.

[0246] When the rotating member 12c reaches the stop target position (step S51, YES), the reference position setting unit 13c updates the reverse position P R When it is determined that the rotating member 12c has reached the target position, the series of processes is terminated.

[0247] After power is applied to the hull 1, the forward position P F Instead of setting the reverse position P R In the case where the value of the first pixel is set to a predetermined position, the process of step S53 described above is not necessary.

[0248] In addition, in step S52, the reference position setting unit 13c may determine that the second motor 12b is in an overload state when the Hall sensor signal is interrupted.

[0249] (Effect of control shown in Figure 11, etc.) The target stop position P of the rotating member 12c may vary depending on the mounting position of the actuator 10 on the hull 1. ST and the hull abutting position P T If a gap occurs between the actuator 10 and the reverse gate 35, the size of the gap may cause a control failure of the actuator 10. That is, a large error may occur in the amount of rotation of the reverse gate 35.

[0250] According to the series of controls shown in FIG. 11, when the power of the hull 1 is turned on, the reverse position P R Therefore, even if the above-mentioned gap occurs, it is possible to suppress the occurrence of poor control of the actuator 10.

[0251] The above describes the embodiment of the present invention. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the above device and the shape of each part are examples, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial Applicability]

[0252] The actuator and personal water bike according to the present invention can accurately set the reference position of the rod drive unit. [Explanation of symbols]

[0253] 1. Hull 2 Prime mover 3 Propulsion mechanism 4 Drive shaft 10 Actuator 11 Rod drive unit 11a Rod 11b First motor 11c Rotating member 11d Sensor 11e Drive unit 11e1 Output shaft 11e2 Housing 12 Rod drive unit 12a Rod 12b Second motor 12c Rotating member 12d Sensor 12e Drive unit 12e1 output shaft 12e2 Housing 13 ECU 13A Judgment processing unit 13B Judgment processing unit 13a First motor control unit 13b Second motor control section 13c Reference position setting section 13d storage section 13e Judgment section 13f Reference position correction section 14 cases 31 Impeller shaft 32 Impeller 33 Nozzle 34 Trim Gate 35 Reverse Gate 100 Jet Ski CD 1st rotation direction CCD 2nd rotation direction P DE Stop position P FE Stop position P RE Stop position P ST Stop target position P T Hull abutment position P T1 Stop position P UE Stop position

Claims

1. A rod drive unit that linearly moves a rod that is connected to a water flow direction changing unit that changes the direction of the water flow to be sprayed and adjusts the angle of the water flow direction changing unit by rotating a motor; a sensor that detects the amount of rotation of the motor based on a change in magnetic flux; a determination unit which determines whether a first total driving stroke amount obtained by adding a manufacturing tolerance to a first driving stroke amount of the rod when the rod is linearly moved in a first direction from a reference position to a first predetermined position based on the rotation amount of the motor, and if it is determined that the first total driving stroke amount is not within the predetermined range corresponding to the first total driving stroke amount, determines whether a second total driving stroke amount obtained by adding a manufacturing tolerance to a second driving stroke amount of the rod when the rod is linearly moved in a second direction, which is the opposite direction to the first direction, based on the rotation amount of the motor, is within a predetermined range corresponding to the second total driving stroke amount; a reference position correction unit that corrects the reference position for starting measurement of the first drive stroke total amount and the second drive stroke total amount when the second drive stroke total amount is not within a predetermined range corresponding to the second drive stroke total amount. Actuator.

2. 2. The actuator according to claim 1, wherein the sensor is a Hall IC built into the motor.

3. The actuator according to claim 1 or 2, wherein the water flow direction changing unit is a reverse gate that moves a hull on which the actuator is mounted forward or backward.

4. 3. The actuator according to claim 1, wherein the water flow direction changing unit is a trim gate that changes an inclination angle of a hull on which the actuator is mounted with respect to a horizontal direction.

5. A personal water bike comprising the actuator according to any one of claims 1 to 4.

Images