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)


H5000PilotAdvancedUser11

RecoveryMode
Type
ExpertSystem
Whatisit?
AllowsthePilottoreturntocoursequicklyafterone‐offwaveimpactknockstheboatoff‐course.
Whatdoesitdo?
AutomaticallyIncreasesresponsetothemaximum(Perf5)settingforashortperiod,providing
maximumresponsetoregaindesiredcourse.Allowstheusertosavepowerbyrunningaresponse
levelrelevanttothetypicalconditionsratherthantheworstcaseconditionsexpected.
AdvancedUserNotes
Userlimitsetting:MaybesettoWide,MediumorNarrowtocontrolwhenthefeatureis
activated
RecoveryModewilloverridetheAutoResponsealgorithm.
IMOCA60Advisory
Ifyouelecttousethisfeature,werecommendtheMediumsetting.
Control
TurnfeatureOn/Off:>Steering>Recovery>
AdjustOffCoursevalueatactivation: >Steering>Recovery>[Narrow,MediumorWide]


H5000PilotAdvancedUser12

HeelCompensation
Type
ExpertSystem
Whatisit?
Toreactrapidlyandproportionatelytoanychangeinheelanglebeforeitcausesacourseerror.
Whatdoesitdo?
Appliesapre‐emptiveruddercorrectionbeforeanysignificantoffcourseerroroccurs.Calculatedby
thereal‐timeboatmodelandbasedonmultipleinputsincluding:windspeed,gustfactor,apparent
windangle,heelangleetc.
AdvancedUserNotes
Usergaincontrol:Ifindoubtapplyalowergain(theweatherhelmalgorithmwillcorrectfor
longertermeffects)
Allow~1minuteafterengagingPilotforweatherhelmtostabilisepriortoadjustingHeelGain.
HeelCompensationisscaledprogressivelyto0asTWAgettowardsMaxTWAtoreducerudder
movementatlowangles.
Nocoursechangethatwillexceedthesafetylimitswillbecommandedbythisfeature.
IMOCA60Advisory
Ifyouelecttousethisfeature,werecommendtheResponseRateissetto1.
Control
TurnfeatureOn/Off:>Sailing>HeelCompensation>Enable
Heelresponselevel[1low‐10high]: >Sailing>HeelCompensation>ResponseRate


H5000PilotAdvancedUser13

GustResponse
Type
ExpertSystem
Whatisit?
Toreactrapidlyandproportionatelytoanychangeinwindspeedbeforeitcausesacourseerroror
broach.
Whatdoesitdo?
Appliesatemporarychange(bear‐away)totheTWAtargetduringagust.Thetargetwillreturnto
theoriginaltargetafterashorttime.
Appliesa'fast'bearawayanda'slow'returntotargetTWA.
AdvancedUserNotes
Usergaincontrol:startwithalowvalueandincrease.Thissettingshouldbeadjustedsothat
theboat*just*appliesenoughrudderduringguststopreventtheboatbeingover‐powered.
"Gust"isdefinedasadeviationfromtheaveragewindspeed.Ifanyincreaseinwindspeed
remainsinplace(i.e.theaveragewindspeedincreases)thentheGustResponsewillslowly
reducetozero.Forchangingconditionswherethewindisincreasinganddecreasinginlonger
periodsthenwerecommendtheuseoftheAdaptiveWindControl(“TWSResponse‟)function
insteadof,oraswellas,GustResponse.
IfyouuseTWSResponseitisrecommendedthatyousetthegainlevelforthatfeaturefirst,
thensettheGustResponsegain
OnlyappliedbetweenminTWAandMaxTWAparameters(Menu>Steering>Limits>[TWA
Minimum,TWAMaximum])
Nocoursechangethatwillexceedthesafetylimitswillbecommandedbythisfeature
Excessivegaincancauseatemporarybearaway(withinthesafetylimits)
IMOCA60Advisory
WehaveexperiencedmixedresultsusingGustResponseonIMOCA60s.UsingtheTWSResponse
featureseemsmoreeffectiveforthisclass.IfyouuseGustResponse,werecommendyouuseitwith
TWSResponse.Ifyouelecttousethefeaturewerecommend:GustLimit=5kt,ResponseRate
between3and5.
Control
TurnGustResponseOn/Off:  >Sailing>GustResponse>Enable
SettheminimumGusttoactivatefeature:>Sailing>GustResponse>GustMIN[knots]
AdjustGustResponselevel(1slow,10fast):>Sailing>GustResponse>ResponseRate
System‐widesettingsrelevanttothisfeature:
AdjustTWSResponsebasedonTWA:see“TWAResponse”
SetTWALimits:>Sailing>Limits>TWAMinimum[default110TWA]
>Sailing>Limits>TWAMaximum[default165TWA]

H5000PilotAdvancedUser14

TWSResponse
Type
ExpertSystem
Whatisit?
TWSResponseallowsthePilottoautomaticallybear‐awaytoalowertargetangleifthewindspeed
increasesabovethelevelitwaswhenthePilotwasengaged.
Whatdoesitdo?
Appliesasemi‐permanentchange(bear‐away)totheTWAtargetiftheTWShasincreasedsincethe
Pilotwasengaged.IftheTWSdropsbacktotheinitialmeanTWSvalue(orbelow)thenthePilot
targetwillcomebacktotheoriginallycommandedTWAvalue.Thisallowstheboattobedriven
fasterandalsoassistsinbroachprevention.
AdvancedUserNotes
Usergaincontrol:startwithalowvalueandincrease
ItisrecommendedthatyousetupTWSResponsegainwiththeGustResponseturnedoff
initially
Thisfeaturetakeslongertoeffecttheboat'sTWAanglethanGustResponse
Maximumbearawayis20degrees
OnlyappliedbetweenMin&MaxTWAparameters,nocoursechangethatwillexceedthe
safetylimitswillbecommandedbythisfeature.
IMOCA60Advisory
WerecommendthatthisfeatureisEnabled,withaResponseRatebetween3and5
Control
TurnTWSResponseOn/Off: >Sailing>TWSResponse>Enable
AdjustTWSResponselevel: >Sailing>TWSResponse>ResponseRate[1slow‐10fast]
System‐widesettingsrelevanttothisfeature:
AdjustTWSResponsebasedonTWA:see“TWAResponse”
SetMaximumBearAwayAngle: >Sailing>Limits>BearAwayMAX
SetTWALimits:>Sailing>Limits>TWAMinimum[default110TWA]
>Sailing>Limits>TWAMaximum[default165TWA]


H5000PilotAdvancedUser15

TWAResponse
Type
ExpertSystemsettings
Whatisit?
AllowstheusertovarytheamountoftheamountofGustbearawayeffectbetweenreachingand
downwindangles.
Whatdoesitdo?
Itisnormaltorequirealargerbear‐awayforagivengustathigherwindangles(reaching)thanlower
angles(broadreaching).TWAResponseallowstheusertoadjustthevariationbetweenthetwo
extremesofthewindrangebetweentheMaxTWAlimitandtheMinTWAlimit.
AdvancedUserNotes
Usergaincontrol:startwithalowvalueandincrease
Thesettingisasimplemultiplier–soifthesettingis“1.5”thenthebear‐awayattheMinTWA
(110bydefault)willbe1.5timesthebear‐awayappliedatMaxTWA(165bydefault)
UsedinGustResponseandTWSResponsefeatures
IMOCA60Advisory
Werecommendthatthissettingisleftat,orcloseto,thedefaultof1.5.
Control
Sailing>GustResponse>TWAResponse


H5000PilotAdvancedUser16

APPENDIXA:H5000Pilot‐MenuStructure

MENU
VALUE
Response
    Perf1
  Perf2
  Perf3
  Perf4
    Perf5
Sailing
WindMode
  Auto
  Apparent
   True
GustResponse
Enable  On/Off
GustMinimum   1‐10
ResponseRate  1‐10
TWAResponse  0‐5
TWSResponseEnable  On/Off
ResponseRate  1‐10
TackTime   2‐50seconds
TackAngle   50‐150degrees
HeelCompensationEnable  On/Off
ResponseRate  1‐10
Steering
AutoResponse
   Off
  Economy
  Normal
   Sport
Recovery
   Off
  Narrow
  Medium
   Wide
Limits
TWAMinimum  110‐165degrees
TWAMaximum  110‐165degrees
BearAwayMax  1‐20degrees
CruisingSpeed   2‐50knots
RudderLimit  10‐45degrees
OffCourse  5‐35degrees
LowBoatSpeed  0.0‐3.0knots
SpeedSourceManual 0[auto]‐25knots
InstallationCommissioning
Dockside
RudderFeedback
 InternalFrequency
 InternalVoltage
 InternalCurrent
 External
BoatLength 6‐50meters
DriveVoltage 12Volts
 24Volts
RudderCalibration
 SetPortEnd
 SetStarboardEnd
 SetMid‐Point
RudderTest 
SeaTrial
AutoTune 
RudderGain 0‐4
AutoTrim 10‐800seconds

H5000PilotAdvancedUser17

CounterRudder 0.5‐16
AdaptEnableOn/Off
Mid‐Point 
Installation
(cont.)
RudderDrive
DriveVoltage  12Volts
  24Volts
DriveEngage
  Auto
  Clutch
MotorOutput  10‐100%
RudderDeadband Auto
  Manual
ManualDeadband  0.1‐4.0degrees
ResetPilotYes/No
SourceSelection
   AutoSelection
  Compass
  Navigation
  Position
  BoatSpeed
  ApparentWindAngle
  TrueWindAngle
  HeelAngle
   RudderFeedback
Setup
Display
DayMode
RedBacklight On/Off
InverseDisplay On/Off
Contrast 1‐10
NightMode
RedBacklight On/Off
InverseDisplay On/Off
Contrast 1‐10
LightingGroup
 Local
 Network
 1
 2
 3
  4
AlarmbuzzerOn/Off
Language
  English
  German
  French
  Spanish
  Italian
  Dutch
  Swedish
   Norwegian
LocalReset  Yes/No
AdvancedModeEnable On/Off
KeyBeepsEnable  On/Off
SoftwareInformation 



H5000PilotAdvancedUser18
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APPENDIXB:H5000Pilot–Speedselectionsequence
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