B&G H5000 Pilot Advanced User Information
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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 ...................................................................................................................................... 1 0
Recovery Mode ..................................................................................................................................... 1 1
Heel Compensation . .............................................................................................................................. 1 2
Gust Response ...................................................................................................................................... 1 3
TWS Response . ...................................................................................................................................... 1 4
TWA Response ...................................................................................................................................... 1 5
APPENDIX A: H5000 Pilot - Menu Structure ......................................................................................... 1 6
APPENDIX B: H5000 Pilot - Speed selection sequence . ........................................................................ 1 8
H5000 Pilot Advanced User (IMOCA rev)
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Summary of Contents for B&G H5000 Pilot
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Page 1: Table Of Contents
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 ... -
Page 2: Rudder Gain
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 H5000 Pilot Advanced User 2 ... -
Page 3: Cruising Speed
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 H5000 Pilot Advanced User 3 ... -
Page 4: Speed Source
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 H5000 Pilot Advanced User 4 ... -
Page 5: Autotrim
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 H5000 Pilot Advanced User 5 ... -
Page 6: Adapt
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 H5000 Pilot Advanced User 6 ... -
Page 7: Tack Time
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 H5000 Pilot Advanced User 7 ... -
Page 8: Wind Mode (App Or True)
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 H5000 Pilot Advanced User 8 ... -
Page 9: Response Level
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 9 ... -
Page 10: Auto Response
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 10 ... -
Page 11: Recovery Mode
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 11 ... -
Page 12: Heel Compensation
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 12 ... -
Page 13: Gust Response
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: ... -
Page 14: Tws Response
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: ... -
Page 15: Twa Response
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 15 ... -
Page 16: Appendix A: H5000 Pilot - Menu Structure
APPENDIX A: H5000 Pilot ‐ Menu Structure MENU VALUE Perf 1 Perf 2 Response Perf 3 Perf 4 Perf 5 Auto Wind Mode Apparent True ... - Page 17 Counter Rudder 0.5 ‐ 16 Adapt Enable On / Off Mid‐Point 12 Volts Drive Voltage 24 Volts Auto Drive Engage Clutch Rudder Drive Motor Output 10 ‐ 100 % Auto Rudder Deadband Manual Manual Deadband 0.1 ‐ 4.0 degrees Reset Pilot ...
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Page 18: Appendix B: H5000 Pilot - Speed Selection Sequence
APPENDIX B: H5000 Pilot – Speed selection sequence H5000 Pilot Advanced User 18 ...
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