The invention relates to a control device, control method and control procedure of float-type wind power generation device. The wind energy is efficiently transformed into the electricitycorresponding to the wind direction. According to the control device of the float-type wind power generation device, the perpendicular direction of a signal detected by a first sensor and the rotary surface of a windmill vane are used as an angle mode within the specialized range; a pitch angle control part is controlled according to a pitch angle instruction value calculated on the basis of signals detected by a second sensor and a third sensor; a yaw driving device is controlled according to the yaw driving instruction value calculated on the basis of signals detected by the second sensor and the third sensor; and the first sensor detects the wind deviation of the perpendicular direction of the rotary surface of the windmill vane, the second sensor detects the relative angle of a vehicle bin and a tower, and the third sensor detects the yaw angle of the tower away from datum position.