US 12,147,246 B2
System for and method of controlling behavior of watercraft
Satoru Hamada, Shizuoka (JP); and Ryosuke Saito, Shizuoka (JP)
Assigned to YAMAHA HATSUDOKI KABUSHIKI KAISHA, Shizuoka (JP)
Filed by YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata (JP)
Filed on Aug. 11, 2022, as Appl. No. 17/885,600.
Claims priority of application No. 2021-144774 (JP), filed on Sep. 6, 2021.
Prior Publication US 2023/0075324 A1, Mar. 9, 2023
Int. Cl. G05D 1/00 (2024.01); B63B 79/10 (2020.01); B63B 79/40 (2020.01)
CPC G05D 1/0875 (2013.01) [B63B 79/10 (2020.01); B63B 79/40 (2020.01)] 6 Claims
OG exemplary drawing
 
1. A system for controlling a behavior of a watercraft, the system comprising:
an outboard motor attachable to the watercraft and including a propeller shaft and a drive source to drive the propeller shaft;
a pitch angle sensor to detect at least either of a pitch angle of the watercraft and an angular velocity of the pitch angle; and
a controller configured or programmed to:
control the drive source such that a thrust of the outboard motor varies;
obtain the at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle;
obtain a present thrust of the outboard motor;
set a target thrust of the outboard motor based on the present thrust of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle; and
control the drive source such that the thrust of the outboard motor becomes the target thrust.