2019-07-16, 04:53 AM
(This post was last modified: 2019-07-16, 04:56 AM by seandepagnier.)
From experience I think you should instead adjust P, D, and DD rather than I. Another idea is to use an overall gain and the value that equals D/P. Capturing the gains this way gives better extrapolated values for gains in new conditions, and allows transferring the table to other similar vessels better.
Eventually DD/D might be considered as well.
The limitation is still the control loop which is not optimal no matter how it is tuned since steering in waves with sail power is a non-linear problem and the basic autopilot is simple.
I think you will find a wide range of P, D values which are acceptable making it sometimes difficult to find the right gain. They can widely vary with similar steering in some cases, so by the time you determine which is best, the conditions are already changing.
Eventually DD/D might be considered as well.
The limitation is still the control loop which is not optimal no matter how it is tuned since steering in waves with sail power is a non-linear problem and the basic autopilot is simple.
I think you will find a wide range of P, D values which are acceptable making it sometimes difficult to find the right gain. They can widely vary with similar steering in some cases, so by the time you determine which is best, the conditions are already changing.