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The Multi-rate Challenges
Here we see the core multi-rate challenge.
Communication protocols, such as TCP, require millisecond or even sub-millisecond resolution to correctly capture handshakes, retransmission timers, and packet-level events.
In contrast, ship dynamics evolve much more slowly, on the order of seconds, due to the large inertia of vessels.
The problem is that FMI 2.0 enforces a uniform global step size.
If the step is large, communication latency becomes heavily quantized. If the step is small, the ship dynamics model is evaluated far more often than necessary, leading to excessive computational overhead.
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IEEE/ICACT20260349 Slide.05
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