In order to stably and accurately control the position of the sail angle, according to the principle of the sail driving control hydraulic system, the integrated coordinated control scheme of the sail angle/speed was proposed. The compound control joint simulation model of the sail angle/speed was established by using AMESim-MATLAB/Simulink software and joint simulation and experimental research were carried out.The results show that the compound control can overcome the pressure fluctuation and hydraulic shocks that occur in conventional control when starting and stopping; under different rotational speed requirements and different load forces, the sail can be controlled according to the planned speed and displacement, which reflects the effectiveness and reliability of the compound control, and can provide technical support for the sail control of the sail assisted ship.