本研究旨在開發一套適用於自主無人帆船之剛性翼帆控制系統，並結合模糊邏輯控制以實現穩定且高效的迎風航行策略。系統採用由美國國家航空諮詢委員會(National Advisory Committee for Aeronautics，NACA)所設計的NACA0012對稱翼型設計剛性翼帆，搭配具壓載功能之龍骨結構強化船體穩定性。硬體方面整合GPS、陀螺儀、風速計與磁性編碼器等感測模組，以NI myRIO為控制核心，透過LabVIEW平台執行多輸入多輸出（MIMO）模糊控制器。控制輸入涵蓋航向誤差、航線偏移量及船速，輸出為動態調整之舵角與翼帆角度指令，提升系統對變動環境的即時反應與導航精準度。
模糊控制技術具備不須精確數學模型的優勢，可透過語意規則應對非線性、時變與不確定系統，克服傳統PID控制在海況變化劇烈時的不穩定問題。五項實驗設計包括：航向追蹤實驗、拉回實驗、迴旋實驗、Z型實驗及路徑點追蹤實驗，驗證穩定性與誤差修正能力、確認載具可從偏航狀態回歸目標線、測試最小轉彎半徑與控制響應、評估換舵操作的策略表現以及驗證多段連續導航能力。各項實驗結果顯示：MIMO模糊控制器能針對不同速度自動調節操控策略，使航向誤差穩定收斂於5°以內，航線偏移量平均小於1m內，展現高度導航精準度與回正能力。
迎風航行實驗部分，實測於±30⁰、±45⁰與±60⁰三種迎風角度下進行比較，結果顯示：±60⁰風角下，由於與真風角夾角最大，所以船速/風速比值最高，展現最佳推進效率；±30⁰風角下航行距離最短所以航行時間最短，適合快速換向航行；±45⁰角則整體效率相對較差。此外，龍骨設計有效抑制大風下的橫搖與平擺，提升整體穩定性。剛性翼帆相較傳統軟帆在靠近無法航行區域仍能維持穩定推力，展現優異的空氣動力性能與操作穩定性。
綜上所述，本研究成功建構一套整合感測、自主控制與航行策略之剛性翼帆船平台，並透過多輸入模糊控制器實現對複雜海況之穩定導航與靈活響應。其成果對臺灣自主無人帆船、綠色海洋科技與智能船舶技術具有前瞻價值，未來可應用於長時間環境監測、海上觀測與低碳航行任務。

This study aims to develop a control system for a rigid-wing sail applicable to autonomous unmanned sailboats, integrating fuzzy logic control to enable stable and efficient upwind sailing strategies. The system adopts a rigid wing sail based on the NACA 0012 symmetric airfoil, originally developed by the National Advisory Committee for Aeronautics (NACA), and incorporates a ballast-equipped keel structure to enhance vessel stability. The hardware integrates sensors including GPS, gyroscope, anemometer, and magnetic encoders, with NI myRIO serving as the control core. A multi-input multi-output (MIMO) fuzzy controller is implemented on the LabVIEW platform. The controller takes heading error, cross-track deviation, and vessel speed as inputs and outputs dynamically adjusted rudder and sail angle commands, improving real-time responsiveness and navigational accuracy in dynamic environments.
Fuzzy control offers the advantage of operating without requiring an exact mathematical model and can address nonlinear, time-varying, and uncertain systems through linguistic rule-based inference. This overcomes the instability issues often encountered with traditional PID control in rapidly changing sea conditions. Five experimental designs were conducted: heading tracking, return-to-course, turning radius, zigzag maneuvering, and waypoint path-following experiments. These tests were used to verify system stability and error correction capability, assess the vessel’s ability to return to its intended trajectory after deviation, determine the minimum turning radius and control responsiveness, assess tacking strategies, and demonstrate continuous multi-segment navigation performance. The experimental results showed that the MIMO fuzzy controller could autonomously adjust control strategies based on vessel speed, maintaining heading errors within 5° and average cross-track errors within 1 meter, demonstrating high navigational accuracy and effective course correction.
In the upwind sailing experiments, three apparent wind angles—±30°, ±45°, and ±60°—were tested. Results indicated that at ±60°, the largest apparent wind angle produced the highest boat-to-wind speed ratio, offering the greatest propulsion efficiency. At ±30°, although the sailing distance was shortest, it enabled the fastest tacking, making it suitable for rapid directional changes. Performance at ±45° was comparatively less efficient overall. Additionally, the keel design effectively suppressed roll and yaw motions under strong wind conditions, further enhancing vessel stability. Compared to conventional soft sails, the rigid-wing sail maintained stable thrust even near the no-go zone, demonstrating superior aerodynamic performance and handling stability.
In summary, this research successfully constructed a rigid-wing sailboat platform that integrates sensing, autonomous control, and navigational strategy. The implementation of a MIMO fuzzy controller enabled robust navigation and adaptive responsiveness in complex marine conditions. The results provide forward-looking value for Taiwan’s development of autonomous sailboats, green ocean technologies, and intelligent maritime systems, with potential applications in long-duration environmental monitoring, ocean observation, and low-carbon sailing missions.

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