JPH0310992A - Sailing device for yacht - Google Patents

Abstract

PURPOSE:To enable even a beginner to sail a yacht properly by obtaining the sail angle of the yacht with fuzzy inference on the basis of a wind direction and velocity for the advance direction of the yacht, and actuating and controlling the sail on the basis of the inferred sail angle. CONSTITUTION:In order to automatically control yacht sailing, a wind direction and velocity for the advance direction of a yacht is first detect ed with an anemoscope M1 and an anemometer M2. Then, the fuzzy inference of a sail angle is made with a fuzzy controller FC according to a fuzzy rule, on the basis of detected signal output from the instruments M1 and M2. Thereafter, the sail of the yacht is actuated with a sail drive means SC, depending upon a sail angle outputted from the fuzzy controller FC. According to the aforesaid construction, even a sailer less experienced with sailing can automatically sail the yacht properly.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a sailing device for a yacht.

(Prior Art) Sailing on a yacht, which uses wind as a power source and converts the wind into propulsion through sails, has been performed based on sailors' sailing experience.

(Problem to be Solved by the Invention) However, since the sailing direction of a yacht is affected by subtle changes such as the direction of the wind, it has been difficult for sailors with little sailing experience to sail properly.

The present invention aims to enable even sailors with little sailing experience to sail appropriately.

(Means for Achieving the Problem) In the yacht sailing device of the present invention, a sail angle is determined according to a fuzzy rule using a detection means for detecting wind direction and seven wind speeds, and data regarding the wind direction and wind speed from the detection means. A fuzzy controller that performs fuzzy reasoning; and sail driving means that drives the sail in response to a sail angle output from the fuzzy controller.

(Operation) Using the data regarding the wind direction and wind speed relative to the yacht from the detection means, the fuzzy controller fuzzy infers the sail angle according to fuzzy rules. The sail driving means then drives the sail in response to the sail angle that is the output of the fuzzy inference.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a plan view of a yacht to which a yacht sailing device according to an embodiment of the present invention is applied, and FIG. 2 is a block diagram of the sailing device of this embodiment installed on the yacht.

In these figures, Y is the yacht sailing in the direction of the arrow, and M is the mast of the sail S.

When such a sailboat Y receives a wind W in the direction shown in the figure on its sail S, as is well known, a vector Fl due to the wind W acts on the sail S, and as a result, the vector Fl acts on the sail S. As a result of the force being divided between the horizontal flow vector F2 received by the centerboard at the bottom of the Y and the forward vector F3 received by the yacht Y, the yacht Y sails in the direction of the arrow with its forward vector F3.

The sailing device of this embodiment controls the mast M based on the wind direction and wind speed with respect to the yacht Y to sail the sail S.
By adjusting the angle of , the magnitude and direction of the plane advance vector F2 are controlled to sail the yacht Y, and as shown in Figure 2, the wind direction and wind speed relative to the direction of travel of the yacht are detected. a wind vane Ml and an anemometer M2 as detection means, a fuzzy controller FC that fuzzy infers a sail angle according to fuzzy rules using data regarding the wind direction and wind speed from each of these detection means Ml and M2, and this fuzzy controller FC and sail driving means SC for driving the sail S in response to the sail angle output from the sail angle output.

The fuzzy controller FC is equipped with a fuzzy inference section (not shown) and a fuzzy rule storage section in order to perform the above-mentioned fuzzy inference, and the fuzzy rule storage section stores if (antecedent) to then (after). It stores multiple types of fuzzy rules in the following format:

In the above fuzzy rule, the wind direction data from the wind vane M1 is used as the antecedent variable d, the wind speed data from the anemometer M2 is used as the antecedent variable V, and the sail S control output data is used as the consequent variable A.

The antecedent variables d and v are respectively shown in Figure 3(a) (
In the membership function diagram shown in b), ZR
, PS, PM, and PL, and the consequent variable A is ZR in the membership function diagram shown in FIG.

It takes values belonging to each fuzzy label name of PS, PM, and PL.

The determination of such fuzzy rules can be set as appropriate depending on the purpose of sailing, and although it is not specifically shown in this embodiment, it will be explained as an example.
For example, if the wind direction is easterly d■, the membership value in the fuzzy label name ZR for the antecedent variable d is 0.
．． 7. It is 0.3 for the fuzzy label name PS, and O for other fuzzy label names. Furthermore, if the wind speed is, for example, 13 m/s, the membership value for the antecedent variable V in the fuzzy label name PS is 0.7, the membership value in the fuzzy label name PM is O13, and the membership value in the fuzzy label name for the pond is O13. It becomes O.

When the membership value of the antecedent part is determined in this way, a MIN operation (selecting the one with the smaller membership value) is performed on the antecedent part, and each fuzzy label name in the consequent part variable A is Each membership function figure to which it belongs is cut at its head in correspondence with the smaller member sill and p value found in the antecedent part for each fuzzy rule. All these cut membership function figures are superimposed (M
AX operation) A superposition membership function figure as shown by the dotted line in FIG. 4 is obtained. Furthermore, the center of gravity G of this superimposed membership function figure is, for example, as shown in the figure? Based on your request, in Figure 4, we obtain definitive data that sets the sail control to the west.

In this way, the mast M is driven and the sail S is sailed by outputting definite data regarding sail control from the fuzzy controller FC to the sail driving means SC.

(Effects of the Invention) As is clear from the above explanation, according to the present invention, even a sailor with little sailing experience can automatically perform appropriate sailing since sailing is performed using fuzzy reasoning.

[Brief explanation of the drawing]

The figures relate to embodiments of the present invention; FIG. 1 is a plan view of a yacht to which a sailing device according to an embodiment of the present invention is applied; FIG. 2 is a block diagram of the sailing device; and FIG.
FIG. 4 is a diagram showing the membership function for the antecedent variable, and FIG. 4 is a diagram showing the membership function for the consequent variable. Y...Yotsu, M...Mast, S...Sail, M
l. M2...Wind vane, anemometer, FC as a detection means...
・Fuzzy controller, SC...Sail drive means. 1 Figure 2

Claims (1)

[Claims] (1) A detection means for detecting wind direction and wind speed; a fuzzy controller for fuzzy inferring a sail angle according to fuzzy rules using data regarding the wind direction and wind speed from the detection means; and a sail angle output from the fuzzy controller. A sailing device for a yacht, comprising: sail driving means for driving the sail in response.