US20130072076A1

US20130072076A1 - Method for maneuvering a yacht

Info

Publication number: US20130072076A1
Application number: US13/577,722
Authority: US
Inventors: Andrea Pellegrinetti; Adriano Zanfei
Original assignee: ZF Friedrichshafen AG
Current assignee: ZF Friedrichshafen AG
Priority date: 2010-02-09
Filing date: 2011-01-19
Publication date: 2013-03-21
Also published as: EP2534044B1; DE102010001707A1; WO2011098326A1; EP2534044A1

Abstract

A method and device for maneuvering a yacht via a control device which is designed as a joystick (7). The joystick (7) is tilted in the direction of a longitudinal axis (y) and a transversal axis (x) of the yacht, to initiate forward or backward movement and transverse movement, and the joystick (7) is rotated to initiate yaw movement of the yacht around its longitudinal axis (zj). The yacht (1) has a single drive which is designed as a pivotable drive (6) which has a pivotable thrust vector around a vertical axis. The steering movements of the joystick (7) are transferred to the pivotable drive (6) in a matched manner.

Description

This application is a National Stage completion of PCT/EP2011/050661 filed Jan. 19, 2011, which claims priority from German patent application serial no. 10 2010 001 707.8 filed Feb. 9, 2010.

FIELD OF THE INVENTION

The invention concerns a method for maneuvering a yacht as well as a device for executing the method.

BACKGROUND OF THE INVENTION

Known through WO 02/085702 A1 is a motor yacht with a propulsion device which has two drive aggregates, each driving a ship propeller. In addition to the propulsion device, the motor yacht has a bow thrust and a stern thrust, meaning thrust devices which are effectively transverse to the longitudinal direction of the yacht. The ship propellers and the thrusters are controlled together through a steering lever which is designed as a joystick. The joystick can be tilted within a full circle of 360° in eight different directions, which are each different by 45°. Depending on what maneuver is required to be performed by the yacht, either the forward propulsion or the thrusters, or the forward propulsion and thrusters are activated.
A motor yacht is known through U.S. Pat. No. 7,234,983 B2 which has two propeller drives which can be rotated around a vertical axis, called rotary actuator in short. By turning of the thrust vector which is generated by the propellers, yaw moments are injected into the ship hull and they determine the course of the boat. A lateral movement, meaning a maneuvering of the yacht transverse to the longitudinal axis, is not possible with this drive.
Known through U.S. Pat. No. 7,267,068 B2 is a motor yacht with two pivotable drives which allow, depending of the direction of the two thrust vectors, any maneuvering movement such as forward, backward, sideways or rotating. A true lateral movement, meaning a sideway move of the yacht is, however, not possible due to the fact that both pivotable drives are positioned in the stern area. The steering of the motor yacht takes place through a steering device which is designed as a joystick, whereby the joystick can be tilted into any direction within a full circle and can be rotated around its longitudinal axis. By tilting or rotating of the joystick, meaningful maneuvering movements of the boat are initiated. This maneuvering method has the disadvantage that two pivotable drives are required to generate a pair of forces through thrust vectors. Such a double drive system is not suitable for smaller yachts, especially sailing yachts, due to cost, weight and the required installation space.
A pivotable propeller drive for a boat is known through WO 2005/005249 A1, in the following called pivotable drive for short. The known pivotable drive is used as a single drive for boats, whereby a rudder blade can be omitted, due to the ability to pivot the thrust vector which is created by the propeller.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a method for maneuvering a yacht, which can also be used for small yachts and, in addition, to create a suitable device for execution of the method.
In accordance with the invention, the known maneuvering method is transferred by means of a joystick which can be manually tilted and which can be transferred to a yacht which has just one pivotable drive and also has preferably a bow thrust. An advantage is hereby created which also allows, for yachts with a less sophisticated drive system, steering by means of the joystick.
The pivotable drive, also called rudder propeller, comprises of a drive device, especially with a ship propeller, which is pivotable around a vertical axis or a steering axis, thus achieving a different trust direction as compared to the ship hull. An optional bow thrust, fixedly positioned in the very frontal area of the hull, creates a thrust perpendicular to the longitudinal direction of the ship and hereby accelerates the rotational movement. By means of the pivotable drive and the bow thrust, and when, the maneuvering method can be advantageously executed, meaning that a sensitive, intuitive, fast responding maneuverability of the yacht can be accomplished. For instance, perpendicular or lateral movements of the yacht can be accomplished by a transverse positioning of the pivotable drive and the application of the bow thrust. This represents a significant advantage in maneuvering, especially for sailing yachts.
In accordance with a preferred embodiment, the pivotable drive can be controlled by tilting and/or rotation of the joystick. Through the tilt direction, which preferably takes place in the midship direction or transverse to the midship direction, the direction of the thrust vector is determined, meaning the steering angle of the pivotable drive. The amount of the thrust is determined by a tilt angle of 0° up to approximately 45°.
By turning of the joystick around its longitudinal axis, a yaw motion of the yacht is initiated, whereby the thrust vector is pivoted in such a way that the yaw motion affects the underwater bottom section of the yacht.
In another advantageous embodiment, by tilting of the joystick in the transverse direction, the pivotable drive and the bow thrust can be simultaneously controlled. Thus, a true lateral movement of the yacht, meaning a transverse shift while maintaining the same course, is achieved. The thrust of the bow thrust and the pivotable drive are hereby acting in the same direction, whereby the thrust is controlled in such a way that no turn motion for the ship's hull is created.
In an additional advantageous embodiment, the bow thrust and the pivotable drive can be triggered by rotation of the joystick in the vertical position, meaning not tilted. By this rotation, an on the spot turn of the yacht can be accomplished, meaning that minimal maneuvering space is required for turning the ship.
In accordance with an additional aspect of the invention, a sailing yacht is provided for the execution of the method which is generally equipped with just a motor drive. Thus, the application of the invented method on a sailing yacht means a greater increase in comfort and safety during maneuvering.

BRIEF DESCRIPTION OF THE DRAWINGS

An example embodiment of the invention is presented in the drawing and as further described as follows, whereby the additional characteristics and/or advantages can result from the description and/or drawing. It shows:

FIG. 1 a schematic presentation of the hull of a sailing yacht,

FIG. 2 a joystick with its three reference axes, x_j, y_j, z_jwhile FIG. 2(1) is a schematic representation of the ship hull and its stationary axes x, y, z,

FIG. 3 a schematic presentation of the steering system of the yacht,

FIG. 4 a first position of the joystick in a forward tilt position, FIG. 4(1) is a schematic representation of the ship hull, FIG. 4(2) is a schematic diagram showing the rotational speed of the pivotable drive, and FIG. 4(3) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 4A the joystick in its first position and the movement of the yacht, while FIG. 4A(1) is a schematic presentation of the ship hull,

FIG. 4B is the joystick of FIG. 4A rotated and FIG. 4B(1) shows the corresponding movement of the yacht,

FIG. 5 the second position of the joystick in a backward tilt position, FIG. 5(1) is a schematic representation of the ship hull, FIG. 5(2) is a schematic diagram showing the rotational speed of the pivotable drive, and FIG. 5(3) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 5A the joystick in its second position and the movement of the yacht, while FIG. 5A(1) is a schematic presentation of the ship hull,

FIG. 5B is the joystick of FIG. 5A rotated and FIG. 5B(1) shows the corresponding movement of the yacht,

FIG. 6 the second position of the joystick with the pivotable drive pivoted by 180°, FIG. 6(1) is a schematic representation of the ship hull, FIG. 6(2) is a schematic diagram showing the rotational speed of the pivotable drive, and FIG. 6(3) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 6A the joystick in the second position and FIG. 6A(1) shows the corresponding movement of the yacht,

FIG. 6B the joystick of FIG. 6A rotated and FIG. 6B(1) shows the corresponding movement of the yacht,

FIG. 7 the third position of the joystick in a centered position, FIG. 7(1) is a schematic representation of the ship hull, FIG. 7(2) is a schematic diagram showing the rotational speed of the pivotable drive, and FIG. 7(3) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 7A the joystick in its third position of FIG. 7 and FIG. 7A(1) shows the corresponding movement of the yacht,

FIG. 8 a fourth position of the joystick in a tilt position toward the starboard, FIG. 8(1) is a schematic representation of the ship hull, FIG. 8(2) is a schematic diagram showing the rotational speed and tilt position of the pivotable drive, FIG. 8(3) is a schematic diagram showing the rotational speed of the pivotable drive and FIG. 8(4) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 8A the joystick in its fourth position of FIG. 8 and FIG. 8A(1) shows the corresponding movement of the yacht,

FIG. 8B the joystick of FIG. 8A rotated and FIG. 8B(1) shows the corresponding movement of the yacht,

FIG. 9 a fifth position of the joystick with the tilt position towards larboard, FIG. 9(1) is a schematic representation of the ship hull, FIG. 9(2) is a schematic diagram showing the rotational speed of the pivotable drive, FIG. 9(3) is a schematic diagram showing the rotational speed and tilt position of the pivotable drive and FIG. 9(4) is a schematic diagram showing the steering angle of the pivotable drive,

FIG. 9A the joystick in its fifth position of FIG. 9 and FIG. 9A(1) shows the corresponding movement of the yacht, and

FIG. 9B the joystick of FIG. 9A rotated and FIG. 9B(1) shows the corresponding movement of the yacht.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 shows a schematic presentation of the hull 1, of a not completely drawn sailing yacht, with a keel 2, a drive engine 3, a bow thrust 4 as well as a rudder blade 5. The drive engine 3 drives a propeller drive 6 which is designed as a pivotable drive 6, meaning pivotable around the vertical axis. Such a pivotable drive is also called a rudder propeller because it replaces the function of a conventional rudder. The drive engine 3 can be designed as a combustion engine or a hybrid drive comprising of an electric motor and a combustion engine.
FIG. 2 shows a steering lever, which is designed as a joystick 7, for steering the drive engine 3 of the pivotable drive 6 and the bow propulsion 4. The joystick 7 has a handle 7 a and a pivot point 7 b which is designed as a joint through which the longitudinal axis z_jof the joystick 7 extends. In addition, axes x_jand y_jare assigned to the joystick 7. The joystick 7 can be tilted in the direction of the axes x_jand y_jand can be rotated around its longitudinal axis z_j.
On the right-hand side in FIG. 2(1), a ground plan of the yacht 1 (the reference number 1 is used for the hull as well as for the yacht) is presented with three axes x, y, z, whereby y is the longitudinal axis of the yacht 1, x is its transverse axis, and z represents the vertical axis. The axes x_j, y_j, and z_jare positioned parallel to the stationary ship axes x, y, z.
FIG. 3 shows, in a schematic presentation, a steering system 8 with the joystick 7, pivotable drive 6, bow propulsion 4 and the drive engine 3 components. All components 3, 4, 8, 7 are linked to an electronic control unit 9 through the control lines 9 a, 9 b, 9 c, 9 d. The tilting and/or rotational movements of the joystick 7 are fed into the electronic control unit 9 as input signals, via the control line 9 a, and sent to the drive engine 3, the pivotable drive 6 and/or the bow thrust 4, as control commands. The sailing yacht can, therefore, be steered just by movement of the joystick 7, which is explained further in the following, and can be maneuvered especially during a low speed of the boat. Hereby, the rotational speed of the drive engine 3, the steering angle or the pivot angle of the pivotable drive 6 and/or the thrust direction of the bow thrust 4 are triggered.
Based on the following drawings 4 to 9, the different positions which can be achieved by the joystick 7, and their influence on the movement of the yacht, are explained in detail.
FIG. 4 shows the joystick 7, represented by a circle with the center M in a first tilted position. The coordinates x_j, y_jwhich are assigned to the joystick 7 are represented as a coordinate cross, with the center point O in a circle k, which represents the pivot area of the joystick 7. The joystick 7, with its longitudinal axis z_j, can be tilted around the coordinate origin and the center point O into the direction of the axes +/−x_jand +/−yj. The position of the joystick 7, as presented in the drawing, represents a tilt to the front, meaning in the direction of the longitudinal axis y of the yacht, or in the direction of sailing forward, respectively. The tilt angle, measured from the vertical basis (vertical axis), is decisive of the rotational speed of the drive engine 3, meaning the amount of the propeller thrust. The further the joystick 7 is tilted, meaning the greater the tilt angle is, the greater are the rotational speed of the drive engine 3 and the thrust of the pivotable drive 6. The rotational speed of the pivotable drive 6 is marked as n in a diagram over the axis y_j. One can recognize that the rotational speed n increases proportional to the tilt of the joystick 7 and the direction of the axis y_j. On the right-hand side of FIG. 4(1), the basic floor plan of the yacht, with the bow thrust 4 and the pivotable drive 6, is schematically shown, where the pivoting area around the vertical axis is represented by the angle +/−α. By rotation of the joystick 7 around its longitudinal axis z_j, represented by double arrow α_zj, the pivotable drive 6 is pivoted around the vertical axis and a yaw movement of the yacht is created. The pivot angle or steering angle of the pivotable drive 6, around the vertical axis, is marked as α and drawn in the diagram on the bottom right in FIG. 4(3) over the rotation angle α_zjof the joystick 7. One can recognize the linear dependence between the two angles, however, with an opposite mathematical prefix notation. When rotating the joystick 7 clockwise, counterclockwise pivoting of the pivotable drive 6 takes place so that intuitively a yaw motion is also created clockwise, meaning the rotation of the yacht towards the starboard. Thus, the pivotable drive 6 rotates proportionally, but opposite to, the rotational movement of the joystick 7. For this maneuver, the bow thrust is disabled.
FIG. 4A (left picture)—in addition to FIG. 4—shows the joystick 7 in a forward tilted position. The related position of the pivotable drive 6 is presented in the right picture: the pivotable drive 6 is positioned mid ship and drives the yacht 1 forward and straight ahead, in the direction of arrow V.
FIG. 4B shows the joystick 7 in the same tilted position, as in FIG. 4A, but rotated around the positive rotation angle α_zj, meaning rotated clockwise. The right picture shows the yacht 1 with the pivotable drive 6, which is pivoted in a counterclockwise steering angle −α. The thrust vector, which is created by the pivotable drive 6, hereby generates a clockwise rotating yaw motion for the yacht 1 which rotates toward the starboard in accordance with arrow StB.
FIG. 5 shows the joystick 7 in a second position, meaning tilted backward or the aft, respectively, meaning in the direction −y_j. The pivotable drive 6 is located the same, meaning the unchanged positioned as in FIG. 4, but the rotational direction of the propeller is reversed so that the thrust direction is going backward, the yacht moves toward the aft. The rotational speed n of the pivotable drive 6 is drawn in the quadrant −n/−y_j. The steering angle α of the pivotable drive 6 is drawn in the diagram as a function of the rotation angle α_zj. One can recognize hereby that the joystick 7 and the pivotable drive 6 rotate in the same direction.
FIG. 5A shows—in addition to FIG. 5—the joystick 7 in a backward tilted position (left picture), meaning for sailing straight ahead backward. The right picture shows the yacht 1 with the midship positioned pivotable drive 6, but its propeller rotates in the opposite direction as during the forward sailing. The yacht 1 sails—as shown by arrow R—straight ahead backward.
FIG. 5B shows the joystick 7 in the same tilted position as in FIG. 5A, but rotated clockwise around the angle +α_zj. As the right picture shows, the pivotable drive 6 is also pivoted clockwise, as marked by arrow +α. Due to the steering angle +α, the thrust vector of the pivotable drive 6 creates a clockwise rotating yaw moment. It causes the rear of the yacht 1 to rotate to the larboard direction in accordance with arrow BB.
FIG. 6 shows the joystick 7 in the same position as in FIG. 5, namely backward, meaning tilted in the −y_jdirection. However, the pivotable drive 6 is pivoted by 180°, in comparison to the position in FIG. 4, so that it causes, at a positive rotational speed n, a thrust toward the aft direction and thus backward sailing of the yacht. During backward sailing, the joystick 7 can be rotated around its longitudinal axis z_jin an rotation angle α_zj, which causes pivoting of the pivotable drive 6 with a steering angle +/−α and a yaw motion of the yacht. As the diagram α=f (α_zj) shows, rotational movement at the joystick 7 happens in the same direction as the pivoting movement of the pivotable drive 6.
FIG. 6A shows—in addition to FIG. 6—the joystick 7 in a backward tilted position, meaning straight forward backward sailing. The pivotable drive 6 is positioned mid ship and pushes the yacht 1 straight forward backward, which is marked with arrow R.
FIG. 6B shows the joystick 7 in the same position as in FIG. 6A, however, rotated clockwise by an angle +α_zj. That causes—as shown in the right picture—also a clockwise pivoting of the pivotable drive 6, meaning by a steering angle +α. Thus, a yaw motion, which rotates clockwise, has an effect on the yacht 1 so that its aft turns toward larboard, as marked with arrow BB.
FIG. 7 shows the joystick 7 in a third position in the coordinate center, meaning in a vertical position and that the tilt angle equals 0, by rotation of the joystick 7 around its vertical longitudinal axis z_j, rotation of the yacht can be executed on the spot (“on the plate”). The propeller thrust, meaning the propeller rotational speed n, as shown in the related diagram, hereby is proportional to the rotational angle α_zjof the joystick 7. During this maneuver, the pivotable drive 6 is preferably pivoted by 90° so that it is positioned transverse to the ship's longitudinal direction and thus creates a yaw motion on the yacht. The steering angle α of the pivotable drive 6 remains constant, as the diagram shows, during the rotational maneuver. In addition, the bow thrust 4 can be added to support the yaw motion so that it results in a pair of forces with the opposite acting thrust vectors.
FIG. 7A shows—for a further explanation of FIG. 7—the joystick 7 in a centered, vertical position to initiate the “turn on the plate” maneuver. Hereby, the joystick 7 is rotated clockwise, as marked by arrow +α_zj. The picture shows the yacht 1 with a transverse positioned pivotable drive 6 which was pivoted in a steering angle of α=−90°. Rotation of the joystick 7 and pivoting of the pivotable drive 6 are, therefore, opposite. The pivotable drive 6, positioned at 90°, creates a clockwise acting yaw motion on the yacht 1 so that it rotates clockwise in accordance with arrow D. The bow thrust 4 can be added, which operates in an opposite thrust direction as the pivotable drive 6, to support of this maneuver. Rotation of the yacht 1 is, therefore, in the same direction, meaning in the same rotational direction as rotation of the joystick 7. Thus, a maneuver with an opposite rotational direction, which is not present here, is executed in the same manner.
FIG. 8 shows the joystick 7 in a fourth position, namely tilted in the direction of the positive x_j-axis, therefore to the starboard side. In this position of the joystick 7, a transverse or sideway movement, also called lateral movement, can be achieved by the yacht. Hereby, the pivotable drive 6 is pivoted by +90° and the bow thrust 4 is activated in the same thrust direction. At that time, two thrust vectors are effective on the yacht, parallel and transverse to the longitudinal direction of the ship. To avoid a yaw motion of the ship, both thrust vectors are balanced against one another by means of an electronic control unit. The rotational speed n of the pivotable drive 6 is hereby initially matching the tilt angle of the joystick 7, as it is shown in the center diagram n=f (x_j). The constant rotational speed n_bof the bow thrust 4 is slightly greater. In addition, meaning after the tilt movement, the joystick 7 can be rotated by the rotational angle α_z, as it is shown in the left diagram n=f (α_zj). Thus, the current thrust balance is canceled and a yaw motion is present on the ship, which results in a rotation movement—towards the larboard or the starboard. Hereby, the lateral movement of the ship can be added with an overlay of a rotation movement, which can be an advantage during certain maneuvers, for instance during windy conditions.
FIG. 8A shows—for a further explanation of FIG. 8—the joystick 7 in a tilted position toward the starboard, which causes a movement of the yacht 1 (right picture) in the direction of arrow L. The yacht 1 moves sideways and performs a true lateral movement, meaning without any yaw motion. The pivotable drive 6 is pivoted by a steering angle α=+90°, with a thrust direction toward the starboard. The bow thrust 4 is added and also pushes toward the starboard. The sum of the yaw motions, by the thrust vector of the bow thrust 4 and the thrust vector of the pivotable drive 6, equals 0—the condition is a balance of moment.
FIG. 8B shows a change of the maneuver in accordance with FIG. 8A, where the joystick 7 is rotated clockwise in accordance with arrow +α_zj. Due to this rotation of the joystick, the balance of moment is canceled where either the thrust of the pivotable drive 6 is reduced so that, due to the bow thrust 4, the yaw moment dominates or the thrust of the bow thrust 4 is increased so that its yaw moment dominates, when compared to the yaw moment of the pivotable drive 6. Due to the clockwise rotation of the joystick 7, the yacht 1 is rotated in the same direction, meaning a rotational movement toward the starboard is overlaid on the lateral movement L in accordance with FIG. 8, marked with arrow StB.
FIG. 9 shows the joystick 7 and a fifth position, named the tilted in the direction of the negative x_j-axis, meaning tilted to the larboard side. In this tilted position, lateral movement of the yacht to the larboard side can be executed—in the same way as in the previous example embodiment of the starboard side, in accordance with FIG. 8. The pivotable drive 6 is pivoted to the position α=−90°. The bow thrust 4 is activated so that both thrust directions are acting towards the larboard. Both thrust vectors are again balanced so that no yaw motion of the yacht is created, but a true lateral movement in the same longitudinal direction. If the lateral movement of the ship needs to be corrected by a yaw motion, the joystick 7 can be rotated clockwise or counterclockwise, in this case, which causes a change of the rotation speed of the pivotable drive 6 and therefore a thrust change—this is shown in the left diagram N=f (α_j).
FIG. 9A shows—in an additional explanation to FIG. 9—the joystick 7 in a tilted position toward the larboard, which results in a lateral movement of the yacht toward the larboard side, in accordance with arrow L. The pivotable drive 6 is hereby pivoted by α=−90° and is therefore positioned transverse to the longitudinal direction of the ship and pushes toward the larboard. The bow thrust 4 is also activated and also pushes toward the larboard.
FIG. 9B shows a modification of the maneuver in accordance with FIG. 9A, meaning by rotating the joystick 7 counterclockwise in accordance with arrow −α_zj. By this rotation of the joystick 7, the current moment balance is canceled so that, as a result, a yaw moment created rotating to the left, which initiates a yaw motion of the yacht 1 toward the larboard, in accordance with arrow BB.
When the yacht 1 is equipped with a pivotable drive 6, also called rudder propeller, a stern thruster and a conventional rudder with a rudder blade can be omitted.

REFERENCE CHARACTERS

1 Hull
2 Keel
3 Drive Engine
4 Bow thrust
5 Rudder blade
6 Pivotable Drive
7 Joystick
7 a Handle
7 b Hinge point
8 Steering system
9 Steering Unit
9 a-9 d Control Lines
x_j; y_jj z_jAxes of Joystick
x; y; z Axes of Yacht
n Rotation Speed (swivel drive)
n_bRotation Speed (bow thrust)
α Steering angle (Pivotable drive)
α_zjRotation angle (Joystick)
M Center point Joystick
O Coordinate Source
k Circle
BB Larboard
StB Starboard
V Forward
R Backward
L Lateral Movement

D Rotating

Claims

1-10. (canceled)

11. A method of maneuvering of a yacht (1) via a control device designed as a joystick (7), the joystick (7) being tiltable in a direction along a longitudinal axis (y) of the yacht for initiating forward and backward movement of the yacht and the joystick (7) being tiltable in a direction along a transverse axis (x) of the yacht for initiating transverse movement of the yacht, and the joystick (7) being rotatable for initiation yaw movement of the yacht at a desired rotational angle (+αzj, −αzj) around its longitudinal axis (zu), the method comprising the steps of:

providing the yacht (1) with a single drive designed as a pivotable drive (6) with a pivotable thrust vector which can be pivoted around a vertical axis,

providing the yacht (1) with a bow thrust (4) having a thrust vector arranged parallel to the transverse axis (x) of the yacht (1),

transferring the steering movement of the joystick (7) in a matched manner to both the pivotable drive (6) and the bow thrust (4),

activating the bow thrust (4) and the pivotable drive (6), by tilting of the joystick (7) toward its transverse direction (+xj, −xj) so that thrust vectors, for both the bow thrust (4) and the pivotable drive (6), react in a same thrust direction and parallel to the transverse axis (x) of the yacht, and

adjusting forces of both of the thrust vectors, via an electronic control unit, depending on the rotation angle (+αzj, −αzj) of the joystick (7).

12. The method according to claim 11, further comprising the step of, for a rotational angle (αzj) of the joystick (7) of zero, balancing both thrust vectors against one another, via the electronic control unit, so that a sum of the yaw moments of the thrust vector of the bow thrust (4) and the thrust vector of the pivotable drive (6) equals zero whereby a balance of moment exists and any yaw motion of the yacht (1) is avoided such that a true lateral movement (L) of the yacht occurs.

13. The method according to claim 11, further comprising the step of, through rotation of the joystick (7) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment, and

reducing the thrust of the pivotable drive (6) so that the yaw moment, due to the bow thrust (4), dominates and a lateral movement (L) of the yacht (1) is initiated, with an overlay of a yaw movement.

14. The method according to claim 11, further comprising the step of, by rotation of the joystick (7) by a rotational angle (+αzj, −αzj) around its longitudinal axis (zu), before or after the tilting, cancelling the balance of the moment by increasing the thrust of the bow thrust (4) so that its yaw moment dominates, compared to a yaw moment from the pivotable drive (6), and a lateral movement (L) of the yacht (1) is initiated with an overlay of a yaw movement.

15. The method according to claim 11, further comprising the step of, activating the bow thrust (4) and the pivotable drive (6) by rotation of the joystick (7) by a rotational angle (+αzj, −αzj), in its vertical position, so that a pair of forces, each parallel to the transverse axis of the yacht (1), but with opposite acting thrust vectors results and rotation of the yacht (1) occurs on the spot.

16. The method according to claim 11, further comprising the step of activating the pivotable drive (6), with regard to its thrust force, by tilting of the joystick (7).

17. The method according to claim 16, further comprising the step of increasing the thrust force of the pivotable drive (6) with an increase in the tilt angle of the joystick (7) and reducing the thrust force of the pivotable drive (6) by a reduction in the tilt angle.

18. The method according to claim 11, further comprising the step of permitting a steering angle (α) of the pivotable drive (6) to be pivoted between zero degrees and +/−90 degrees, and

activating the steering angle (α) by rotation of the joystick (7).

19. The method according to claim 11, further comprising the step of permitting a steering angle (α) of the pivotable drive (6) to be pivoted between zero degrees and +/−180 degrees, and

activating the steering angle (α) by rotation of the joystick (7).

20. The method according to claim 11, further comprising the step of employing a sailing yacht as the yacht (1).

21. A sailing yacht comprising a control device designed as a joystick (7), the joystick (7) being tiltable in a direction along a longitudinal axis (y) of the sailing yacht for initiating forward and backward movement of the sailing yacht and the joystick (7) being tiltable in a direction along a transverse axis (x) of the sailing yacht for initiating transverse movement of the sailing yacht, and the joystick (7) being rotatable for initiation yaw movement of the sailing yacht in a rotation angle (+αzj, −αzj) around its longitudinal axis (zu),

wherein the sailing yacht comprises a single drive designed as a pivotable drive (6) with a pivotable thrust vector which can be pivoted around a vertical axis,

a bow thrust (4) having a thrust vector arranged parallel to the transverse axis (x) of the yacht (1),

the steering movement of the joystick (7) being transferred, in a matched manner, to both the pivotable drive (6) and the bow thrust (4),

tilting movement of the joystick (7), toward its transverse direction (+xj, −xj), induces thrust vectors of the bow thrust (4) and the pivotable drive (6) to react in a same thrust direction which is parallel to the transverse axis (x) of the sailing yacht, and

an electronic control unit adjusting the forces of both thrust vectors depending on the rotation angle (+αzj, −αzj) of the joystick (7).