B&G H5000 Pilot Assembly instructions

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H5000PilotAdvancedUser(IMOCArev)1
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H5000Pilot:AdvancedUserInformation
About
Thisdocumentprovidesfurtherinformationoncoresetupfeaturesandalsointroducesdetailed
descriptionsanduseadvisoriesforthefeaturesfoundunderAdvancedModewhichincludethe
PerformanceSailing(PS)algorithmandExpertSystems.
IMOCA60advisoriesareincludedforVendeeGlobe2016teams.
ThisdocumentshouldbeusedalongsidethestandardOperationandInstallationmanualsfor
advancedusersonly.NotethatsomefeaturesareonlyavailableifAdvancedmodeisenabledonthe
H5000PilotKeypad(Setup>Local>AdvancedMode).
Functions
Theitemscoveredbythisdocumentare:
RudderGain............................................................................................................................................2
CruisingSpeed.........................................................................................................................................3
SpeedSource..........................................................................................................................................4
AutoTrim.................................................................................................................................................5
Adapt.......................................................................................................................................................6
TackTime................................................................................................................................................7
WindMode(ApporTrue).......................................................................................................................8
ResponseLevel........................................................................................................................................9
AutoResponse......................................................................................................................................10
RecoveryMode.....................................................................................................................................11
HeelCompensation...............................................................................................................................12
GustResponse......................................................................................................................................13
TWSResponse.......................................................................................................................................14
TWAResponse......................................................................................................................................15
APPENDIXA:H5000Pilot‐MenuStructure.........................................................................................16
APPENDIXB:H5000Pilot–Speedselectionsequence.........................................................................18
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H5000PilotAdvancedUser2
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RudderGain
Type
Setup
Whatisit?
RudderGaincontrolstheamountofrudderappliedforagivenamountofcourseerror.
Whatdoesitdo?
Insimpleterms,whentheRudderGainisincreasedthePilotwillapplymorerudderperdegreeof
headingerror.
AdvancedUserNotes
Linkedtocruisingspeed,RudderGainisusedinPerf1responselevel,itisusedwithlesseffect
inPerf2‐5levels.Ruddergainisprogressivelyfadedoutastheresponselevelisincreased,in
favourofthePSalgorithmwhichusesafixedtablewithsetgainparametersbasedonthe
performanceboatmathematicalmodel.
IMOCA60Advisory
Recommendedsettingsareintherange0.65‐0.80.
Control
Installation>Commissioning>SeaTrial>RudderGain
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H5000PilotAdvancedUser3
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CruisingSpeed
Type
Setup(andFailsafe)
Whatisit?
CruisingSpeedisasetpointatwhichallthestandardPilotsetupparametersareusedat100%ofthe
inputvalue.Itisrecommendedthecruisingspeedissettoavalueclosetothespeedatwhichthe
AutoTuneprocessiscompletedifpossible.Formostsailingboatthiswillbe5‐8Knots.
CruisingSpeedisusedasafailsafeboatspeedinputifBoatSpeed,SOGormanualspeedareall
invalid.
Whatdoesitdo?
Insimpleterms,iftheBoatSpeedislessthantheCruisingSpeedsetting,thePilotwillapplymore
rudderforagivencourseerror.IfBoatSpeedisgreaterthantheCruisingSpeedsetting,thePilot
willuselessrudderforthesamecourseerror.
AdvancedUserNotes
CruisingSpeedisusedextensivelyinPerf1responselevel,buthaslesseffectinPerf2‐5asthe
PerformanceSail(PS)algorithmhasagreaterweightingasyoumoveuptheresponselevels,PS
doesnotusetheCruisingSpeedparametersotheeffectnaturallybecomesless.
IMOCA60Advisory
WhileitisnormaltosettheCruisingSpeedtothespeedatwhichAutoTuneiscarriedout
(recommendedathighenginespeedandflatwater),inpracticethebestCruisingSpeedforthe
IMOCA60isaround12knots.
Control
Steering>Limits>CruisingSpeed
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H5000PilotAdvancedUser4
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SpeedSource
Type
SteeringAlgorithmcontrol
Whatisit?
Amanualcontrolofboatspeedinput,toallowuseinthecaseofunreliablespeedreading.
Whatdoesitdo?
Allowstheusertoselectbetweenautomatic(boatspeed,backedupbySOG)oramanuallyinput
speed.
AdvancedUserNotes
0=Automatic
1‐25knotsinmanualsetting
Notethatunder‐estimatingthespeedwilltendtoover‐steertheboat,over‐estimatingthe
speedwilltendtounder‐steertheboat.
IMOCA60Advisory
Werecommendthatthissettingisleftatthedefaultof0.Intheextremecaseofspeedfailure(both
boatspeedandSOG)thenyoushouldattempttomatchyourestimateoftheactualboatspeed.
Control
Steering>SpeedSource>Manual
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H5000PilotAdvancedUser5
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AutoTrim
Type
SteeringAlgorithmcontrol
Whatisit?
AutoTrimcorrectsforpersistentcourseerrorsbycontinuouslymonitoringandlearningtherudder
offset.
Whatdoesitdo?
Whenthevesselhasaconstantheadingerrorduetoexternalforcessuchaswindortrimthe
AutoTrimfunctioncorrectsforthisbydynamicallyadjustingrudderoffsetbasedonthemostrecent
measurementsfromtherudder.
AdvancedUserNotes
TheAutoTrimvalueisreseteverytimetheAUTOmodeisenteredorwhenacoursechangeof
greaterthanapproximately20°ismade.ThetimeperiodusedintheAutoTrimfunctionmaybe
adjustedbytheuser,butitisadvisedthatthisisleftatdefaultsettings
ThePerformanceSail(PS)algorithmusedinPerf2‐5willprogressivelyoverridethisfeaturewith
thePSWeatherHelmfeature.
IMOCA60Advisory
Recommendedsettingis60seconds.
Control
Installation>Commissioning>SeaTrial>AutoTrim
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H5000PilotAdvancedUser6
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Adapt
Type
SteeringAlgorithmcontrol
Whatisit?
Thisisasoftwarefeaturethatcontinuestolearnvariablesthatareessentialforsteering
performance.
Whatdoesitdo?
AllowstoPilottolearnsteeringvariablesforthecurrentconditions.ThePilotwillcontinuetoadjust
internalvariablesthatareessentialforsteeringperformance,e.g.rudder/turn‐rateratio.Every30
minutesthePilotwillsavethelatestvaluesintostoredmemory.
AdvancedUserNotes
Whenenabledtheseinternalvariablesareoptimisedduringthesessioninresponsetothe
yacht’sbehaviour
Disablingthisfeaturewilllockthevariables.
IMOCA60Advisory
WerecommendthatthissettingisEnabled.
Control
Installation>Commissioning>SeaTrial>Adapt
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H5000PilotAdvancedUser7
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TackTime
Type
SteeringAlgorithmcontrol
Whatisit?
AcontrolthatallowstheusertocontrolthespeedofaTackorGybemanoeuvre.
Whatdoesitdo?
Adjuststheruddercontrolduringatacktoallowfasterorslowertack/gybemanoeuvres.
AdvancedUserNotes
Iftheboatfailstocompleteatackbyduetostallingclosetohead‐to‐wind,tryreducingthetack
time
Considertacktimetobeequivalentto“usemorerudder”(lowertacktime),or“useless
rudder”(highertacktime)asopposedtoadefinitivecontrolledtimingofatackorgybe.The
actualtimewillbedictatedbytacking/gybingangles,sea‐state,windspeedandboatspeed
amongothervariables.
IMOCA60Advisory
Werecommendthatarangeof5‐10secondsisusedasastartingpoint.
Control
Sailing>TackTime
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H5000PilotAdvancedUser8
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WindMode(ApporTrue)
Type
SteeringAlgorithmcontrol
Whatisit?
TheWindsteeringmodecanuseTWAorAWA,dependingonuserselectionorsystemcriteria.
Whatdoesitdo?
Whentheuserengageswindsteeringmode.ThePilotwillusethewindmodetoselecteitherAWA
orTWAangleasthecurrenttarget,dependingonthesettingsbelow:
1) AWA–steersexclusivelytoasetApparentWindAngle
2) TWA–steersexclusivelytoasetTrueWindAngle
3) Auto–switcheswindanglemode,usingAWAupwindandTWAdownwind
AdvancedUserNotes
Iftheuserhasenabledwindmodetobe“auto”thePilotwillselecteitherAWAorTWA
appropriately.Thechange‐overpointisat70degreesTWA.Atangleslessthan70degreesTWA
thePilotwillselectAWAandatanglesgreaterthan70degreesTWAthePilotwillselectTWA.
ThePilotwillnotautoswitchbetweenAWAandTWAwhilstitisengaged,itonlysetsthis
featurewheninitiallyengaged.
IMOCA60Advisory
RecommendedsettingistouseAWAforupwindworkandTWAfordownwindwork.Thismaybe
achievedbyusingtheAutoselection,butremembertodisengage/re‐engagethePilotifyouhavea
significantchangeinwindangle–thisreselectsthemode.
Control
Sailing>WindMode
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H5000PilotAdvancedUser9
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ResponseLevel
Type
SteeringAlgorithmcontrol
Whatisit?
Providestheuserasimplecontroltotradeoffcoursekeepingperformancevs.poweruse.
Whatdoesitdo?
Adjuststhesettingsofmultiplefunctions(deadbands,gain,velocitycontroletc.)toincreasecourse
keepingperformanceastheresponselevelisincreasedfromPerf1uptoPerf5.Thinkofitasa
volumecontrol:loudandpowerful?orquietandeconomic?Typically,ausershouldrunthelowest
Responseleveltheyarehappywith.
AdvancedUserNotes
SettingtheResponseleveltoohighcanbecounter‐productive‐therudderwillbeadjustedall
thetimeforminorcourseerrors,consumingalotofpowerandputtingunnecessarywearand
strainonsteeringcomponents.
TheusermaychoosetousetheAutoResponsefeaturetoallowthePilottoincrease(butnot
decrease)theusersetresponselevelbasedonmeasuredcoursekeepingperformance(see
AutoResponse).
Perf1usesatraditionalPIDcontrolalgorithm,Perf2‐5levelsimplementgreaterweightingof
theB&GPerformanceSailalgorithm.
IMOCA60Advisory
Conditionsdependent.Responsemodeshouldbeadjustedbasedonwindconditions(strengthand
stability)andseastate(flatvs.rough).Instablewindsonflatwateryoushouldbeabletorunthe
minimumlevel.
NotethatPerf3hasgoodall‐roundperformance,thoughyouwilllikelyusePerf4orPerf5inthe
moreseriousconditions.DonotbeafraidtousePerf1,thissettingprovidesgoodsteeringinallnon‐
extremeconditions.
Control
Response>Rate


H5000PilotAdvancedUser10

AutoResponse
Type
ExpertSystem
Whatisit?
AllowsthePilottoincreaseresponsePerfleveltoimprovecoursekeeping.
Whatdoesitdo?
AutomaticallyincreasesPerfleveltoreduceheadingerror.Theresponsesettingwillbeincreased
slowlyfromtheuser’sPerflevelsettingtomaintaincourseifconditionschangerequiringmore
responsefromthePilot.ThePerflevelsettingwillautomaticallyreturntotheuser’sresponsesetting
onceconditionshaveimproved.
AdvancedUserNotes
Userlimitsetting:SettoEconomy,NormalorSporttocontrolthecourseerrorsensitivityused
bythePilottodeterminewhenitincreasestheresponsemode
ThePilotwillslowlyincreasetheusersetresponseleveluntiltheconditionshaveimproved
whereitwillreturntotheusersetlevel.Themodewillnotreducetheresponselevelbelowthe
usersetlevel.
IMOCA60Advisory
IfyouelecttousethisfeaturewerecommendtheNormalsetting,theSportsettingcanbetoo
sensitiveonanIMOCA60causingthePilottoincrementtheresponsetoPerf5quitequickly.
Control
TurnfeatureOn/Off:  >Steering>AutoResponse>
Adjustsensitivity:  >Steering>AutoResponse>(Economy,NormalorSport)
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