Marine vessel and control apparatus for marine vessel

A control apparatus for a marine vessel including left and right propulsion devices attached to a stern of a hull and located left of and right of, respectively, a center of the hull in a left-right direction, left and right drive units to change a rotation angle of the left and right propulsion devices about left and right tilt shafts, and to set an angle, at which a position of a lower portion of the left and right propulsion devices becomes highest, as a maximum rotation angle, and left and right lift mechanisms to change a lift amount of the left and right propulsion devices, respectively, with respect to the hull, the control apparatus comprising:

• a controller configured or programmed to function as:
• a judging unit to judge whether or not a displacement in a roll direction of the hull has occurred;
• and
• a control unit to control the left and right drive units and the left and right lift mechanisms;
• wherein
• in a case that the judging unit judges that the displacement in the roll direction of the hull has occurred, the control unit executes either one or both of a first control to differentiate the rotation angle of the left propulsion device from the rotational angle of the right propulsion device using the left and right drive units, and a second control to differentiate the lift amount of the left propulsion device from the lift amount of the right propulsion device using the left and right lift mechanisms.

A marine vessel comprising:

• a hull;
• left and right propulsion devices attached to a stern of the hull and located left of and right of, respectively, a center of the hull in a left-right direction;
• left and right drive units to change a rotation angle of the left and right propulsion devices about left and right tilt shafts, respectively, and to set an angle, at which a position of a lower portion of the left and right propulsion devices becomes highest, as a maximum rotation angle;
• left and right lift mechanisms to change a vertical position of the left and right propulsion devices, respectively, with respect to the hull;
• and
• a controller configured or programmed to function as:
• a judging unit to judge whether or not a displacement in a roll direction of the hull has occurred;
• and
• a control unit to control the left and right drive units and the left and right lift mechanisms;
• wherein
• in a case that a detected roll angle exceeds a predetermined angle, the judging unit judges that the displacement in the roll direction of the hull has occurred;
• and
• in a case that the judging unit judges that the displacement in the roll direction of the hull has occurred, the control unit executes either one or both of a first control to change the rotation angle of at least one of the left propulsion device with the left drive unit or the right propulsion device with the right drive unit, and a second control to change the vertical position of at least one of the left propulsion device with the left lift mechanism or the right propulsion device with the right lift mechanism.