Steering control device and control method capable of controlling turning angle of propulsion device in control of steering mode, and marine vessel

A marine vessel comprising:

• a steering control device;
• a hull;
• a propulsion device to propel the hull;
• a steering wheel having a limited rotatable angle;
• a steering actuator to change a turning angle of the propulsion device;
• at least one memory to store a set of instructions;
• and
• at least one processor configured or programmed to execute the set of instructions to:
• control steering modes of the marine vessel including a normal steering mode to allow the marine vessel to be steered by a rotation operation of the steering wheel, and an automatic steering mode to allow the marine vessel to be automatically steered without depending on the rotation operation of the steering wheel;
• acquire a rotation angle position of the steering wheel;
• acquire an actual turning angle of the propulsion device;
• determine, based on the acquired rotation angle position, whether or not rotation of the steering wheel is stopped;
• and
• when performing the control of the steering mode, during a return control to shift the steering mode from the automatic steering mode to the normal steering mode, execute a first control to control the steering actuator so as to reduce a deviation between a turning angle corresponding to the acquired rotation angle position of the steering wheel and the acquired actual turning angle of the propulsion device in a case where it is determined that the rotation of the steering wheel is stopped.

A steering control method of a marine vessel including a hull, a propulsion device to propel the hull, a steering wheel having a limited rotatable angle, and a steering actuator to change a turning angle of the propulsion device, the steering control method comprising:

• controlling steering mode of the marine vessel including a normal steering mode to allow the marine vessel to be steered by a rotation operation of the steering wheel, and an automatic steering mode to allow the marine vessel to be automatically steered without depending on the rotation operation of the steering wheel;
• acquiring a rotation angle position of the steering wheel;
• acquiring an actual turning angle of the propulsion device;
• determining, based on the acquired rotation angle position, whether or not rotation of the steering wheel is stopped;
• and
• when performing the control of the steering mode, during a return control to shift the steering mode from the automatic steering mode to the normal steering mode, executing a first control to control the steering actuator so as to reduce a deviation between a turning angle corresponding to the acquired rotation angle position of the steering wheel and the acquired actual turning angle of the propulsion device in a case where it is determined that the rotation of the steering wheel is stopped.