[From Rick Marken (2012.04.30.1500)]
Rupert Young (2012.04.29 21.30 BST) --
Hi Rupert
Here's my approach. I just have two control systems, one controlling
the speed of the boat and the other controlling the bearing. The
system controlling bearing does it by varying the rudder and the
system controlling speed does it by varying the angle of the sail
(relative to the carlin -- center line-- of the boat). These outputs
both affect the states of the environmental variables being controlled
(boat direction and boat speed) as do the two disturbance, wind
direction and wind speed.
Right not the physics of the situation is completely make believe;
that's the hard part. But once I have that done I should have two
control systems that will sail the boat in a fixed direction at a
fixed speed (and into the wind). Hierarchical control will come in if
I can figure out how to design control systems that can do tacking.
See what you think. By the way, you run mine by hitting F9. You'll see
that both control systems keep their perceptions matching their
references in the fact of randomly varying changes in wind direction
and speed.
Best
Ricky the sailor man
Sailing Sim.xls (17 KB)
···
--
Richard S. Marken PhD
rsmarken@gmail.com
www.mindreadings.com
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