2019-09-21, 03:10 PM
It might be easier to use magnetic reed switches for end of travel.
A magnetic sensor is better for rudder feedback because it won't wear out.
Counting revolutions won't work at power up without traveling to one end and back which is not desirable. Brushless controllers can already do this without an extra sensor, but still won't know the absolute position at startup. Having a relative measurement like this could be a useful feedback. It is also possible to measure the motor current draw to correct for the actual speed the motor is moving and compensate for weather helm.
As far as working without knowledge of the absolute rudder position, it is working on relative rudder position and this already works well. It's possible to try with absolute commands, and also by just using this as an additional input to the autopilot logic to hopefully improve the steering in the future.
A magnetic sensor is better for rudder feedback because it won't wear out.
Counting revolutions won't work at power up without traveling to one end and back which is not desirable. Brushless controllers can already do this without an extra sensor, but still won't know the absolute position at startup. Having a relative measurement like this could be a useful feedback. It is also possible to measure the motor current draw to correct for the actual speed the motor is moving and compensate for weather helm.
As far as working without knowledge of the absolute rudder position, it is working on relative rudder position and this already works well. It's possible to try with absolute commands, and also by just using this as an additional input to the autopilot logic to hopefully improve the steering in the future.