| 摘要 |
PROBLEM TO BE SOLVED: To automate operation for hoisting up the sail by wind, by setting a target position of a boom rotation means in such a way that the shivering is made so that the wind direction agrees with the rotation position of the boom. SOLUTION: A mean of the wind direction is calculated, and subsequently a mean wind direction relative to the sail body is obtained. With this a wind direction required for control is obtained. Since a wind direction mean time X (s) and an adjustment interval Y (time) are automatically changeable according to the operating conditions, a target position is computed in accordance with the operating conditions and control target, and thereby steering control is achieved. When the ship enters a center limit (Step S20Y) where the wind direction is 11.2 deg. or smaller from the center of the ship body, the ship is in a condition where it is ready to tack and the ship body is willing to turn windward. Thus, shivering is made (Step S21) so that the ship would not be pushed back to the downwind side. At this time, the wind direction mean time X=0.4, an adjustment time y=1 (every time), and hysteresis for re-operation =±2.8 deg.. With this meticulous control, follow-up performance of the shivering is increased.
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