| 摘要 |
PROBLEM TO BE SOLVED: To automate steering including hoisting up the sail by wind, by enabling wind direction mean time and adjustment interval to be changeable. SOLUTION: A mean wind direction is calculated once per x s, by averaging wind direction accumulated values. Subsequently, an X-s mean wind direction relative to a ship body is calculated from the mean wind direction relative to the sail and a value from an encoder mounted on a boom rotation motor. With this, a wind direction required for control is obtained. A target position and deceleration range are calculated, once per X (a wind direction mean time)×Y (an adjustment interval)s. In addition, a tentative target position is obtained as a tentative target position at 80% driving relative to the target position which is updated once in every X×Ys; Tentative target position = (target position) - (current boom position)}×0.8+(current boom position). Since the wind direction mean time X (s) and the adjustment interval Y (time) are automatically changeable according to the operating conditions, the optimum target position can be computed in accordance with the operating conditions and control target. With this, meticulous and stable steering control is achieved.
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