Establishment of Intelligent Control System for Ocean Sailing Yacht and Application to Real Boat

本研究旨在建立远洋帆船智能控制系统。作者开发了一个计算机程序，该程序根据安装在船上的航行状态传感器的输出推导出最合适的控制参数。将该系统应用于一艘10.6m级远洋帆船上，并通过海上试验验证了该系统的功能。具体内容如下：1建立了智能控制系统(1)建立了基于航行试验的试验船航行性能数据库。(2)开发并改进了航速预报程序(VPP)。提出了一种固结运动的数值模拟方法。利用数据库和数值模拟的方法，编制了一个计算机程序，该程序可以根据船上传感器的输出来确定最合适的参数。将最合适的参数与传感器获得的航行参数进行比较，舵手可以识别这些参数之间的差异并进行修正。2.通过航行试验对系统进行验证(1)将系统安装在船上的个人计算机上并应用于试验船。(2)试验船在不同的风浪条件下航行。经验证，该智能控制系统功能运行良好。

This research aims at the establishment of intelligent control system of ocean sailing yacht. The authors developed a computer program which indicates a best suited control parameters deduced from the output of sailing state sensors attached on the boat. The system was applied to a 10.6m-LOA ocean sailing yacht and confirmed the functions by sea tests.The details are as follows :1 Establishment of intelligent control system(1) The data base of sailing performance of the test bost was completed based upon sailing tests.(2) A velocity prediction program (VPP) was developed and improved using the data base. A method of numerical simulation for the tacking motion was also developed. Steering control for the tacking motion is important for up-wind sailing performance.(3) Using the data base and the method of numerical simulation, a computer program was developed which indicates a best suited parameters deduced from the output of sensors attached on the boat. The best suited parameters were compared with the sailing parameters obtained by sensors, and a helmsman can recognize the difference between these parameters and can correct it.2 Verification of the system by sailing test(1) The system was installed in a onboard personal computer and applied to the test boat.(2) The test boat sailed under various wind and wave conditions. It was confirmed that the functions of the intelligent control system worked satisfactorily.