JPH0332995A - Automatic pilot device of yacht - Google Patents

Abstract

PURPOSE:To pilot a yacht automatically with a simple and low-priced structure by fuzzy-controlling the position of a yacht's helm and the sailing angle of a yacht respectively according to the desired direction and the head direction of the yacht, and the direction of wind and the speed of the yacht. CONSTITUTION:The head direction and the speed of a yacht are detected respectively by respective sensors 14, 16, and the wind direction around the yacht is detected by an anemoscope 18 and the position of the whole yacht is detected by a measuring instrument 20. The deviated angle of the head direction from its desired direction, the respective angles of the desired direction to wind direction, and the speed of the yacht are calculated by a calculating part 22 according to respective detected signals. The proper position of the yacht's helm and the sailing angle of the yacht are fuzzy-reasoned by a fuzzy control part 24 according to respective calculated signals. The respective driving devices 12, 26 of a helm and a sail are fuzzy-controlled according to fuzzy reasoning. It is thus possible to pilot the yacht automatically with a simple and low-priced structure.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a rudder drive device that responds to input of a rudder angle signal and drives a rudder in accordance with the rudder angle, and a rudder drive device that responds to input of a sail opening angle signal. The present invention relates to an automatic pilot system for a yacht equipped with a sail drive device for driving a sail using fuzzy reasoning, and more particularly to automatic piloting of a yacht using fuzzy reasoning.

(Prior art) Up until now, simple autopilot systems for yachts have been used to determine the target direction (however, this definition of the target direction refers only to the target direction along the way of the yacht, and only to the final destination). , and both of these are included.) There are systems that automatically control the steering so that the ship's heading coincides with the heading of the ship.

(Problem to be solved by the invention) However, in such a conventional automatic pilot device,
Simply control the steering so that the ship's heading matches the target heading.
Because the wind direction and ship speed at that time were not taken into account in the calculations, it was not always possible to achieve satisfactory steering control.

Of course, wind direction and ship speed can be factored into steering control calculations, but this would require complicated and enormous calculation processing, making the autopilot system bulky and expensive. This would be difficult to adopt as an automatic pilot system for yachts.

Therefore, although the present invention does not require complicated and enormous calculation processing and is simple, it is possible to include not only the target direction and heading, but also the wind direction and ship speed as requirements for automatic piloting. The purpose is to make it possible.

(Means for Achieving the Problem) In order to achieve such an object, the automatic pilot system for a yacht according to the present invention has a rudder that responds to the input of a rudder angle signal and drives the rudder in accordance with the rudder angle. Detection means for detecting and outputting heading, ship speed, wind direction, and ship position, which is equipped on a sailboat equipped with a drive device and a sail drive device that drives the sail in response to input of a sail opening angle signal. a calculation unit that calculates a deviation angle of the ship's heading from the target heading, a target heading angle with respect to the wind direction, a bow heading angle with respect to the wind direction, and a ship speed based on the detection output from the detection means; A plurality of fuzzy rules and each of the above variables, with data regarding the angle, heading angle, and ship speed as antecedent variables, and the optimum rudder angle and sail opening angle corresponding to each combination of data as consequent variables. , and uses the calculation output from the calculation section to perform fuzzy inference on appropriate rudder angles and sail opening angles according to the fuzzy rules and membership functions, and calculates the inference results. The present invention is characterized by comprising a fuzzy control section that outputs a rudder angle signal and a sail opening angle signal to the rudder drive device and the sail drive device, respectively, in response to the above.

(Function) The calculation unit calculates the deviation angle of the ship's heading from the target bearing, the target bearing angle with respect to the wind direction, the ship's heading angle with respect to the wind direction, based on each data regarding the ship's heading, ship speed, wind direction, and ship position from the detection means. Calculate the sailing speed. The fuzzy control unit performs fuzzy inference on the optimal rudder angle and sail opening angle using the calculation output from the calculation unit, and generates rudder angle signals to the rudder drive device and the sail drive device respectively in accordance with the inference results. and a sail opening angle signal.

The rudder drive device and the sail drive device control the rudder angle and sail opening angle in response to the rudder angle signal and the sail opening angle signal, respectively, so that the yacht is automatically piloted towards the target direction. Ru.

(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 an automatic pilot system for a yacht according to an embodiment of the present invention is applied, and FIG. 2 is a circuit block diagram of the automatic pilot system.

In FIG. 1, reference numeral 2 indicates the entire yacht.

4 is a sail, 6 is an automatic winch, 8 is a rope, IO is a rudder, and 12 is a rudder drive device. Although the sail 4 is directly driven by the automatic winch 6, it is driven by the automatic winch 6 being driven by a sail driving device 26, which is not shown in FIG. 1 but shown in FIG. Ru. W is the wind indicated by the symbol, SD is the heading, OD is the target direction, and WD is the wind direction. The angle of the heading OD, X3 is the heading S with respect to the wind direction WD
The angle of D, Yl is the rudder angle, and Y2 is the sail opening angle.

Referring to FIG. 2, 14 is a heading sensor that detects and outputs the heading SD, 16 is a ship speed sensor, I8 is a wind vane, 2
0 is a ship position measuring device such as Loran that measures the ship position (latitude, longitude) of yacht 2. These constitute the detection means referred to in the above-mentioned claims.

22 is the target direction OD based on the detection output from the detection means.
a calculation unit that calculates the deviation angle of the ship's heading SD from , x1, the angle x2 of the target heading OD with respect to the wind direction WD, the angle x3 of the ship's heading SD with respect to the wind direction WD, and the ship speed x4;
24 uses data regarding the azimuth deviation angle Xl, target azimuth angle x2, bow azimuth angle x3, and ship speed x4 as antecedent variables, and calculates the optimal rudder angle yt corresponding to the combination of each data.
3 (a) to (d) and 4 (a) (b) corresponding to a plurality of fuzzy rules shown below and each of the above variables, with and sail opening angle y2 as consequent variables. )
This fuzzy control unit 24 stores the membership function shown in FIG.
Using each data xl=x4, which is the calculation output from 2, fuzzy inference is made to determine the appropriate rudder angle yt and sail opening angle y2 according to the fuzzy rule and the membership function, and the rudder drive is performed in accordance with the inference results. A rudder angle signal and a sail opening angle signal are output to the device 12 and the sail drive device 26, respectively.

Here, some of the fuzzy rules stored in the fuzzy control unit 24 are illustrated below.

■HX2=NL or NM or PM or PL
X1=PS then yl=Ns ■if x2=NL or NM or PM or
PLxl=PM then yl=NM ■if X2=NL or NM or PM or
PLxl=PL then yl=NL ■if x2=NL or NM or PM or
PLxl=Ns ■ ■ ■ ■ ■ [Phase] then yl=Ps if x2=NL or X1=NM then yl=PM if x2=NL or xl=NL then yL=PL if x2=ZR x3=Psl then yl=Ps if x2=ZR x3=PS2 then yl=PM Hx2=ZR x3=Ns1 then yl=Ns if x2=ZR x3=NS2 then yl=NM if x3=PS or NM NM 5 then y2=NM @ i f x3=PM or NMX4=NM then y2=ZR @ if x3=PL or NLX4=NM then y2=PS Here, or indicates that the maximum membership value is selected, and the membership value between each variable in the antecedent part is selected. selects the smallest one.

NS, NM, . . . PS, PM, and PL are fuzzy label names of fuzzy sets to which the antecedent and consequent variables belong, respectively.

The fuzzy control unit 24 stores membership functions in the membership function coordinate system of each of the antecedent variables xl-x4 as shown in FIGS. 3(a) to 3(d).

Figure 3(a) shows the antecedent variable xl, that is, the target direction OD
Figure 3 (b) shows the membership function for the angular difference between the wind direction WD and the heading SD. Drive device, 14... Heading sensor, 16... Ship speed sensor, 18... Wind vane, 20... Ship position measuring device, 2
2... Arithmetic unit, 24... Fuzzy control unit, 26...
・Sail drive device, W...wind, OD...target direction,
SD: Heading, WD: Wind direction.

Claims (1)

[Claims] (1) A yacht equipped with a rudder drive device that drives the rudder in accordance with the rudder angle in response to input of a rudder angle signal, and a sail drive device that drives the sail in response to input of a sail opening angle signal. A detecting means for detecting and outputting the ship's heading, ship speed, wind direction, and ship position; and a deviation angle of the ship's heading from the target heading, a target heading angle with respect to the wind direction, based on the detection output from the detecting means, A calculation unit that calculates the heading angle and ship speed with respect to the wind direction, and the data regarding the heading deviation angle, target heading angle, heading angle, and ship speed are used as antecedent variables, and the optimum calculation is performed according to the combination of each data. A plurality of fuzzy rules having a rudder angle and a sail opening angle as consequent variables and membership functions corresponding to each of the variables are stored, and the fuzzy rule is stored using the calculation output from the calculation unit. An appropriate rudder angle and sail opening angle are fuzzy inferred according to the rules and membership functions, and a rudder angle signal and a sail opening angle signal are generated for the rudder drive device and the sail drive device, respectively, in accordance with the inference results. An automatic pilot device for a yacht, characterized in that it is equipped with a fuzzy control section that outputs .