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tuning_gains [2019/10/02 13:13]
174.226.13.56
tuning_gains [2019/10/02 13:20]
174.226.13.56
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-From hereadjust just these two gains seeing how the boat reacts before adding other gains.  ​Once you are comfortable adjusting ​these gains consider:+If the boat takes too long to correct the course and spends a long time to one side of the correct headingincrease ​these two gains.  ​If the motor is working too hard, and frequently crosses the correct heading, decrease ​these gains
 + 
  
 P - proportional gain P - proportional gain
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 D - derivative gain D - derivative gain
-This is the gyro gain, and the main driving gain of the autopilot. ​ Most of the corrections should be as a result of this gain.   Once the best value is found it can typically work in a range of conditions, however, in light air, it can be reduced (along with reducing other gains) to significantly reduce power consumption.+This is the gyro gain, and the main driving gain of the autopilot. ​ Most of the corrections should be as a result of this gain.   Once the best value is found it can typically work in a range of conditions, however, in light air, it can be reduced (along with reducing other gains) to significantly reduce power consumption ​especially if the boat is well balanced.
  
  
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 DD - derivative'​ gain DD - derivative'​ gain
-This gain is useful to improve reaction time.   It can allow for corrections sooner than they would occur from the D gain alone. ​  To use it, gradually increase this value up to 1.5x the D gain value without changing other gains, and notice ​the results.+This gain is useful to improve reaction time.   It can allow for corrections sooner than they would occur from the D gain alone. ​  To use it, gradually increase this value up to 1.5x the D gain value without changing other gains, and compare ​the results.
  
  
 FF - feed forward gain FF - feed forward gain
-This gain is only useful when making course changes. ​ For holding heading it has no effect. ​ Following a route can cause course changes. ​  It can be very useful in improving the response time since a low P value is normally desirable.+This gain is only useful when making course changes. ​ For holding heading it has no effect. ​ Following a route can cause course changes. ​  It can be very useful in improving the response time since a low P value is normally desirable, this gain is the main contributor when the course is adjusted.
  
  
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 For sailing in protected waters, steering a less straight course is a tuning error, and will only increase power consumption. For sailing in protected waters, steering a less straight course is a tuning error, and will only increase power consumption.
  
-If you can tolerate less straight steering it may save power in waves. ​ Generally you just want to keep the sails pulling, and the average course that you desire. ​ This was always the goal with a wind vane anyway, and can save power consumption as well as wear on the motor.+If you can tolerate less straight steering it may save power in waves. ​ Generally you just want to keep the sails pulling, and the average course that you desire. ​ This was always the goal with a wind vane anyway, and can save power consumption as well as wear on the autopilot drive motor.
tuning_gains.txt · Last modified: 2019/10/02 13:20 by 174.226.13.56