JPH035185B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides a board sailing simulator for learning how to operate a sailboard, and in particular, a board sailing simulator that allows one to practically learn the technique of changing the direction of a board by operating a sail. It is something.

[Prior art]

FIG. 1 is a perspective view showing a conventional board sailing simulator, and in the figure, 1 is a board;
2 is a mast rotatably and tiltably attached to this board via a universal joint 3, 4
is a boom attached to this mast, 5 is a sail attached to this boom and mast 2, 6 is a rotating shaft provided on the underside of the board 1, 7 is a bearing that supports this rotating shaft, and 8 is the above rotating shaft. a damper 9 that generates resistance proportional to the rotational speed of the shaft 6;
is a mounting base to which this damper and the bearing 7 are fixed.

A conventional board sailing simulator is constructed as described above and is used outdoors by utilizing natural wind. During operation, the practitioner stands on the top surface of the board 1 behind the position where the mast 2 is attached with the universal joint 3 and grasps the boom 4. The direction and wind force of the natural wind that the sail 5 receives can be changed by operating the boom 4 that is integrated with the sail 5. The practitioner operates the boom 4 to balance the force applied to the sail 5 transmitted through the boom 4, or to change the force applied to the sail 5. If a practitioner is facing the wind on sail 5 from behind and wants to change direction, he should tilt sail 5 forward so that the wind acts on the tip of board 1, and determine which side of sail 5 is exposed to the wind. Turn board 1 to the left or right depending on whether it is On the other hand, if the practitioner is facing the wind on sail 5 from the front, he will pull sail 5 backwards, causing the force of the wind to act on the rear of board 1, causing the rear of board 1 to move. and change direction. In other words, due to the wind force, a rotational moment about the rotation axis 6 is generated in the board 1 in a plane orthogonal to the rotation axis 6, and the board 1
rotates around the rotation axis 6. Since a damper 8 is connected to the rotating shaft 6 via a belt 10, an appropriate rotational resistance is generated in the board 1. The above operations simulate actually operating a sailboard on water, so the practitioner can experience the feeling of operating a sailboard.

Since the simulator is constructed as described above, natural wind conditions of the required wind direction and wind speed are essential in order to be able to practice the actions often required during boardsails.

However, the condition of the natural wind changes depending on the location and date and time of installation of the simulator, and is significantly different from the actual wind on the water, so this device has the disadvantage that it often encounters situations in which it cannot be used as a training device.

The purpose of this invention is to provide a device that allows practice of sail operations equivalent to changing the direction of a sailboard under virtual predetermined wind conditions even in the absence of natural wind with the required wind direction and wind speed. .

[Summary of the invention]

The board sailing simulator according to the present invention detects the inclination angle of the mast with a mast angle detector, and based on the output signal of this detector, determines the rotation angle at which the board rotates under virtual wind conditions. is calculated, and the board is rotated by a board drive device based on the calculated output.

[Action of the invention]

FIG. 2 is a side view showing the present invention, FIG. 3 is a sectional view showing details of an example of the vicinity of the joint, which is the main part of the invention, and FIG. 4 is a configuration diagram of the control circuit of the invention. In the figure, 1, 2, 4-6 and 9
is similar to the conventional device described above.

3a is a joint attached to the upper surface of the board 1, the details of which are shown in FIG. Reference numeral 12 denotes a board drive device for driving the rotating shaft 6, which is fixed to the installation base 9. a corresponds to the center of wind pressure on the sail 5, and b corresponds to the center of water resistance acting on a protrusion that plunges into the water called a daggerboard, which is attached to the underside of the board 1 to prevent the board 1 from flowing sideways in an actual sailboard. It is a virtual center of resistance. In FIGS. 3 and 4, 13 is a vertical bearing attached to the board 1, 14 is a vertical shaft supported by this vertical bearing, 15 is a horizontal bearing attached to this vertical shaft, and 16 is this horizontal bearing. A horizontal shaft 17 supported by the mast 2 is a mast angle detector which is fixed to the horizontal shaft and the vertical shaft 14 and detects the inclination angle of the mast 2. The board drive device 12 shown in FIG. 2 is adapted to be able to be driven independently of the mast tilting mechanism perpendicular to the sail plane and the mast rotation mechanism. 18 is a calculation unit that calculates the rotational speed of the board 1 under virtual wind conditions based on the output signal of this angle detector, and 19 is a signal generator that generates a signal corresponding to the calculation result of this calculation unit. The board driving device 12 is operated by the output signal of this signal generator. The virtual wind here is one that simulates natural wind, and the wind speed and direction can be programmed and changed as appropriate depending on the purpose of the training.

In the board sailing simulator configured as described above, when the wind pressure center a of the sail 5 is located directly above the virtual resistance center b of the board 1, and l=0 as shown in FIG. It can be assumed that no rotational torque is generated around the rotating shaft 6, and the board moves straight. If the straight line distance between the wind pressure center a and the resistance center b at this time is L, and the direction of the mast 2 is the reference direction, then by changing the inclination angle α of the mast forward and backward from the reference direction, the distance between the wind pressure center a and the resistance center b can be changed. A horizontal component l of the distance occurs, and its value is determined by the following equation.

l=L・tanα...() Now, when the wind force and the wind direction are F and θ are hypothetically acting on the wind pressure center a, the rotation axis 6 is attached to the board 1.
It can be assumed that a rotational torque T is generated around , and the course of the board 1 changes.

T=F・l・sinθ...() Here, T: Rotational torque on board 1 acting on resistance center b F: Wind force acting on wind pressure center a l: Horizontal distance between wind pressure center a and resistance center b θ: It represents the angle formed by the perpendicular plane containing the wind pressure center a and the resistance center b, and the wind direction at the wind pressure center a.

Furthermore, the balance of forces on the board 1 when this torque T acts on the board 1 is expressed as in the following equation ().

Iγ″+Cγ′=T…() Here, I: Board 1, Mast 2, Boom 4,
Moment of inertia taking into account the weight of the sail 5 and the practitioner γ: The angle at which the board 1 rotates and changes direction in response to the torque T, that is, the new direction of travel γ′: Rotational angular velocity of the board 1 γ″: Rotational angular acceleration of the board 1 C : Represents attenuation resistance due to water.

If the virtual wind force F and wind direction θ are set, the horizontal distance l between the wind pressure center a and the resistance center b can be calculated from the inclination α from the reference direction in the plane of the sail 5 of the mast 3 using the formula (), so The angle γ at which the board 1 should be rotated is determined as a solution that satisfies the above equations () and (). An output signal for turning the board 1 by an angle γ is then input to the board driving device 12, and the board 1 is driven to rotate around the rotation axis 6.

The above operation will be explained in more detail below using the control circuit configuration diagram shown in FIG. A detection signal of the mast inclination angle detected by the mast angle detector 17 is input to the calculator 18. The arithmetic unit 18 is constituted by a digital computer, and calculates the solution γ that satisfies the equations (), (), and () by, for example, integration using the linear acceleration method. This operation requires about 20 floating-point additions, but can be performed within 1 millisecond by using a numerical calculation circuit.
The value of the rotation angle γ of the board 1 calculated here is input to the signal output generator 19, and is sent to the board driving device 12.
is converted into an electrical signal that operates the The board drive device 12 is, for example, a drive device using an electro-hydraulic servo, and drives the rotating shaft 6 in response to an output signal from the signal generator 19, and the board 1 attached to the rotating shaft 6 is rotationally driven. Ru. The calculation process of the control circuit system described above is set to be repeated continuously at a high speed within 1/10th of a second.
The board 1 smoothly rotates according to the inclination angle α of the mast 2, and the same condition as when operating an actual sailboard is realized. Therefore, the practitioner feels that the board 1 is operating smoothly and can learn the technique of turning the board in accordance with the real situation under virtual wind conditions.

〔Effect of the invention〕

As explained above, this invention detects the inclination angle of the mast with a mast angle detector, calculates the rotation angle at which the board rotates under virtual wind conditions based on the output signal of this detector, Since the board is rotated by the board drive device using the calculated output, the direction of the sailboard can be changed under hypothetical predetermined wind conditions even in the absence of natural wind with the required wind direction and wind speed. This has the effect of making it possible to practice the corresponding sail operation.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a conventional board sailing simulator, FIG. 2 is a side view showing the present invention,
FIG. 3 is a cross-sectional view showing details of an example of the vicinity of the joint, which is the main part of the present invention, and FIG. 4 is a configuration diagram of the control circuit of the present invention. In the figure, 1 is a board, 2 is a mast, 4 is a boom, 5 is a sail, 6 is a rotating shaft, 12 is a board drive device, 17 is a mast angle detector, 18 is a calculator, and 19 is a signal generator. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A mast to which a boom is attached, a sail attached to both the mast and the boom, a board that holds the mast via a joint, a rotating shaft that rotatably holds this board, and a shaft that connects this rotating shaft to the mast. A mast angle detector is installed to detect the inclination angle of the mast, and based on the output signal from this mast angle detector, calculate the rotation angle at which the board actually rotates under virtual wind conditions. a signal generator that generates an electrical signal corresponding to the rotation angle of the board calculated from this calculator; and a signal generator that rotates the board around the rotation axis in response to the electrical signal from this signal generator. Board sailing simulator with driving board drive.