Table 3

Experimental data points. ± denotes the standard devation from averaging over time series. HDG is for heading control, TWA is for True Wind Angle control.

ID TWS [kts] TWA [°] Uwt [V] wr [RPM] Rudder control
1 7.64 ± 0.49 −100 ± 2.74 32.5 700 HDG
2 7.03 ± 0.5 −96 ± 4.25 26.6 489 HDG
3 8.74 ± 0.53 −93.8 ± 3.27 42.2 700 HDG
4 8.1 ± 0.75 −91.8 ± 2.95 22.4 700 HDG
5 9.03 ± 0.45 −89.1 ± 2.87 37.2 700 TWA
6 8.5 ± 0.81 −87.8 ± 3.33 21.6 700 TWA
7 8.11 ± 0.61 −86.5 ± 3.26 31.7 647 TWA
8 8.25 ± 0.5 −84.9 ± 2.83 16.8 700 TWA
9 9.34 ± 0.41 −84 ± 3.18 27 700 TWA
10 10.3 ± 0.56 60.5 ± 1.73 21.7 −700 TWA
11 6.81 ± 0.47 82.8 ± 1.24 31.6 −700 TWA
12 8.34 ± 0.57 83.3 ± 2.6 30.9 −686 HDG
13 7.59 ± 0.55 90 ± 3.22 22.1 −698 HDG
14 9.35 ± 0.47 90.7 ± 3.21 12.2 −692 HDG
15 9 ± 0.81 98.3 ± 4.77 41.3 −700 HDG

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