Propulsion system of boat

Abstract

A propulsion system of a boat includes: a plurality of propulsion machines each including a power source, and a propulsor configured to generate a thrust with power transmitted from the power source, the plurality of propulsion machines being provided on left and right interposing a hull center; a thrust direction changer configured to change directions of thrusts of the plurality of propulsion machines; and a controller configured to control the thrusts and thrust directions of the plurality of propulsion machines. In a case where there is a difference between instructed steering and actual steering when the boat makes a turn, the controller conducts turning assist control for generating a thrust balance in accordance with the difference. In the turning assist control, the controller acquires an instructed steering value input into a steering angle inputter, an actual steering value at which the propulsion machine is actually steered, and an instructed thrust value input into a thrust inputter, calculates a steering thrust generated by the instructed thrust value when a steering direction of the propulsion machine reaches the instructed steering value, and calculates a compensation thrust for generating the steering thrust calculated, in the actual steering value.

Dependencies are inferred from the claim text.