PM208 Adaptive Autopilot PT500A Series 19th Editio111111111 [PDF]

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PM208 Adaptive Autopilot PT500A Series User’s Manual IM 80B02-19E

IM 80B02-19E 19th Edition

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PM208 Adaptive Autopilot PT500A Series User’s Manual IM80B02-19E 19th Edition

CONTENTS Foreword ..................................................................................................................v For safe operation ................................................................................................viii 1.

2.

3.

General ...................................................................................................... 1-1 1.1

Introduction ....................................................................................................... 1-1

1.2

Standard Model ................................................................................................. 1-1

Configuration ............................................................................................ 2-1 2.1

Control Stand .................................................................................................... 2-1

2.2

Individual Units and Their Functions.............................................................. 2-2 2.2.1

AUTO STEERING UNIT (PB343)...................................................... 2-2

2.2.2

HAND STEERING UNIT (PB335) ..................................................... 2-4

2.2.3

STEERING REPEATER COMPASS (MKR056) ............................... 2-5

2.2.4

SWITCH UNIT (PH720) ..................................................................... 2-6

2.2.5

SWITCH UNIT (PH721) .................................................................... 2-6

2.2.6

SWITCH UNIT (PH718) ..................................................................... 2-6

2.2.7

ANNUNCIATOR UNIT (PH614) ........................................................ 2-7

2.2.8

TERMINAL UNIT (PN026) ................................................................ 2-8

Operation................................................................................................... 3-1 3.1

Operation ........................................................................................................... 3-1 3.1.1

4.

Preparation ........................................................................................ 3-1

3.2

Hand Steering .................................................................................................... 3-2

3.3

Auto Steering..................................................................................................... 3-2 3.3.1

Preparation for Auto Steering ............................................................ 3-2

3.3.2

Course Change during Auto Steering ................................................ 3-4

3.3.3

NAVI Steering (optional) .................................................................... 3-4

3.3.4

Override Steering (optional)............................................................... 3-5

3.3.5

Safety Functions for Automatic Steering ........................................... 3-6

3.3.6

Maneuvering for Reading Ship Parameters ...................................... 3-6

3.4

Remote Steering: RC (optional) ...................................................................... 3-8

3.5

Non-follow-up Steering .................................................................................... 3-8

3.6

Switching to AUX.compass ............................................................................. 3-9

Key Operation ........................................................................................... 4-1 4.1

Switching The Display ...................................................................................... 4-1

4.2

Setting The Rudder Angle Limit ...................................................................... 4-3

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Setting The Off-course Alarm .......................................................................... 4-4

4.4

Setting The Operation Mode ............................................................................ 4-6

4.5

Setting The Draft Mode..................................................................................... 4-7

4.6

Setting The Ship Speed .................................................................................... 4-8

4.7

Course Change Control Mode Selection........................................................ 4-9

4.8

Setting Parameters ......................................................................................... 4-11 4.8.1

Setting The Dimmer and Contrast ................................................... 4-12

4.8.2

Setting The Off-heading Alarm ........................................................ 4-14

4.8.3

Setting for Heading Monitor ............................................................. 4-16

4.8.4

Alarm Cause Display ....................................................................... 4-18

4.8.5

Setting Control Items ....................................................................... 4-19

4.8.6

4.8.5.1

Item Switching ........................................................................... 4-19

4.8.5.2

Release of Midship Command .................................................. 4-20

4.8.5.3

Release of Counter Rudder Angle Limit.................................... 4-21

4.8.5.4

Setting The Rough-seas Steering Mode................................... 4-23

4.8.5.5

Helm Adjustment in Steering Mode Switching .......................... 4-24

4.8.5.6

Number of Rudders ................................................................... 4-26

4.8.5.7

Course Deviation Limit Function ............................................... 4-27

4.8.5.8

Steering Gear Deadband Compensation ................................. 4-28

4.8.5.9

Ship Speed Pulse Rate ............................................................. 4-29

4.8.5.10

Exponential Smoothing Time for Ship Speed ........................... 4-30

4.8.5.11

Gyrocompass Moving Average Time ........................................ 4-31

4.8.5.12

Auxiliary Compass Moving Average Time ................................ 4-32

4.8.5.13

Type of Rudder Angle Display ................................................... 4-33

4.8.5.14

Self-testing Command .............................................................. 4-34

Initial Setting of Control Parameters ................................................ 4-35 4.8.6.1

Item Switching ........................................................................... 4-35

4.8.6.2

Setting The Cruising Speed ...................................................... 4-36

4.8.6.3

Setting The Hull Length ............................................................. 4-37

4.8.6.4

Initial Setting Value of Static Gain ............................................. 4-38

4.8.6.5

Setting Value of Time Constant ................................................. 4-39

4.8.6.6

Setting Value of Static Gain....................................................... 4-40

4.8.6.7

Setting The Kalman Filter Noise Covariance Matrix Multiplier.. 4-41

4.8.6.8

Setting Differential Gain Multiplier ............................................. 4-42

4.8.6.9

Setting The Proportional Gain Multiplier ................................... 4-43

4.8.6.10

Setting The Results Computed from Ship Particulars (Stable Ship/Unstable Ship) ...................................................... 4-44

4.8.6.11

Setting The Parameter Updated State (Updated/Not Updated) ............................................................. 4-45

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4.8.6.12

Setting The Updated Result (Stable Ship/Unstable Ship) ........ 4-46

4.8.6.13

Presetting Parameters .............................................................. 4-47

4.8.7

Automatic Setting of Control Parameters for Each Draft Mode....... 4-48

4.8.8

Average Value Display ..................................................................... 4-51

4.8.9

Parameter Update Computations .................................................... 4-52

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iii 4.8.9.1

Enabling Parameter Update Computations and The Display of Results .............................................................. 4-53

4.8.10

5.

6.

4.8.9.2

Disabling Parameter Update Computations ............................. 4-55

4.8.9.3

Initialize of Identified Parameters .............................................. 4-56

4.8.9.4

Inhibiting Parameter Update Computations.............................. 4-56

Setting The Alarm Limit of Low Ship Speed .................................... 4-58

Alarms........................................................................................................ 5-1 5.1

Alarm Types ....................................................................................................... 5-1

5.2

Annunciator Pattern ......................................................................................... 5-2

5.3

Types of Alarm Displays................................................................................... 5-3 5.3.1

Emergency Alarms............................................................................. 5-3

5.3.2

Caution Alarms................................................................................... 5-5

Basic Autopilot Action ............................................................................. 6-1 6.1

Steering for Fuel Saving .... Minimum Steering Frequency and Rudder Angle ......................................... 6-1

6.2

Adaptive Autopilot Control Algorithm ............................................................ 6-1

6.3

Changes in Weather Conditions and Adaptive Autopilot............................. 6-2

6.4

Basic Behavior of BNAAC (OPTION) .............................................................. 6-3

6.5

BNAAC and Changes in Weather Conditions ................................................. 6-4

7.

Maintenance and Inspection ................................................................... 7-1

8.

Attached Figures ...................................................................................... 8-1 Figure 8.1 Cable connection diagram ................................................................ 8-1 Figure 8.2 Power line circuit ............................................................................... 8-2 Figure 8.3 Interface circuit A............................................................................... 8-3 Figure 8.4 Interface circuit B .............................................................................. 8-4 Figure 8.5 Interface circuit C .............................................................................. 8-5 Figure 8.6 Alarm circuit....................................................................................... 8-6

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v

< Foreword >

Foreword This manual describes the PT500A's functions and their operations. Read this manual carefully, and become fully familiarized with the instrument before using them. There is the possibility that does not reach a setting value in a climate, the sea condition, ship's speed, loads, the drafts and other special condition, in the case that it is using rate of turn control or turning-radius control. There is the possibility that the inaccurate ship's speed input does not become a correct control in the case that it is using turning-radius control.

 About this manual •

This manual should be read by the end user.

•

Read this manual thoroughly and have a clear understanding of the product before operation.

•

After you have finished reading this User’s Manual, be sure to keep it at your side.

• This manual explains the functions of the product. Yokogawa Denshikiki Co.,Ltd. does not guarantee that the product will suit a particular purpose of the user. • Copying or reproducing all or any part of the contents of this manual without the permission of Yokogawa Denshikiki Co.,Ltd. is strictly prohibited. • The contents of this manual are subject to change without prior notice. • Every effort has been made in the preparation of this manual to ensure the accuracy of its contents. However, should you have any questions or find any errors, please contact your nearest Yokogawa Denshikiki Co.,Ltd. dealer.

 Trademarks •

All the brands or names of Yokogawa Denshikiki Co.,Ltd.’s products used in this manual are either trademarks or registered trademarks of Yokogawa Denshikiki Co.,Ltd..

• For purposes of this manual, the TM and ® symbols do not accompany their respective trademark names or registered trademark names. • Company and product names that appear in this manual are trademarks or registered trademarks of their respective holders.

 Safety precautions  Notes about environmental condition for using To use the PT500A Autopilot, keep the environment that satisfies “Specification” and “Equipment condition” of this product.

 Notes about installation If reinstallation will be needed , contact your nearest service agent of Yokogawa Denshikiki Co., Ltd..

 Notes about preparation before using Read this manual thoroughly and have a clear understanding of the product before operation.

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< Foreword >

 Notes about using other than usage This products are designed for Autopilot for vessel. Do not use for other purpose.

 Notes about maintenance and inspection •

Regular inspection is recommended to keep this system good condition.

•

Do not detach the unit cover without the instruction of service engineer.

•

Contact your nearest service agent when the inspection which is not permitted in this manual is needed.

 Notes about abnormal circumstances •

When abnormal allophone or abnormal smell is generated from this product, turn off the power supply.

• Do not keep using the system , if dealing methods are unknown when the system is under abnormal condition. • Contact your nearest service or sales agent to repair the system. • When there is some instruction about the method of trouble shooting from service department of Yokogawa Denshikiki Co., Ltd. , obey the instructions and work.

 Notes about disposal of the products When this product is scrapped , follow the regulations specified by each country.

 A lithium battery is used in this product. Before disposing , insulate the both of terminals of lithium battery with insulation tape. Dispose of the lithium battery as industrial waste following the regulations.

 Precautions related to the protection, safety, and alteration of the product •

The following safety symbols are used on the product and in this manual. "Handle with care." To avoid injury and damage to the instrument, the operator must refer to the explanation in the manual. “Risk of Electric Shock”

Protective ground terminal

AC "High temperature." To avoid injury caused by hot surface, do not touch locations where this symbol appears.

• For the protection and safe use of the product and the system controlled by it, be sure to follow the instructions and precautions on safety that are stated in this manual whenever you handle the product. Take special note that if you handle the product in a manner that violate these instructions, the protection functionality of the product may be damaged or impaired. In such cases, Yokogawa Denshikiki Co., Ltd. does not guarantee the quality, performance, function, and safety of the product. IM80B02-19E

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< Foreword >

•

When installing protection and/or safety circuits such as lightning protection devices and equipment for the product and control system or designing or installing separate protection and/or safety circuits for fool-proof design and fail-safe design of the processes and lines that use the product and the control system, the user should implement these using additional devices and equipment.

• If you are replacing parts or consumable items of the product, make sure to use parts specified by Yokogawa Denshikiki Co., Ltd.. • Do not modify this product without instruction from service engineer of Yokogawa Denshikiki Co., Ltd. .

 Exemption from responsibility • Yokogawa Denshikiki Co., Ltd. makes no warranties regarding the product except those stated in the WARRANTY that is provided separately. • Yokogawa Denshikiki Co., Ltd. assumes no liability to any party for any loss or damage, direct or indirect, caused by the user or any unpredictable defect of the product.

 About the replacement parts for repair • After discontinuation of production, the possession period of the replacement parts is ten years. •

The replacement parts for repair are the parts necessary to maintain the function of this product.

 How to use this manual The following markings are used in this manual. Improper handling or use can lead to injury to the user or damage to the instrument. This symbol appears on the instrument to indicate that the user must refer to the user’s manual for special instructions. The same symbol appears in the corresponding place in the user’s manual to identify those instructions. In the manual, the symbol is used in conjunction with the word “WARNING” or “CAUTION.”

WARNING Calls attention to actions or conditions that could cause serious or fatal injury to the user, and precautions that can be taken to prevent such occurrences.

CAUTION Calls attentions to actions or conditions that could cause light injury to the user or damage to the instrument or user’s data, and precautions that can be taken to prevent such occurrences.

NOTE

Calls attention to information that is important for proper operation of the instrument.

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< Foreword >

For safe operation WARNING RISK OF ELECTRICAL SHOCK Turn off the power supply before starting the wiring.  MODE switch •

When switching the steering mode to HAND or Remote, always set all the steering handles and remote dials to the midship position before changing the mode.

• If there is a large difference between the actual rudder angle and the angle directed by the steering handles or remote dials, switching the mode causes the rudder to turn greatly, and may involve some danger.  Emergency alarm If an Emergency alarm occurs, the control output is set to the midship position or maintained rudder angle, except for the case of a SERVE LOOP FAILURE. Change the control system or select manual steering or non-follow-up steering to restart steering.

CAUTION  No megger tests except for the on-board power supply terminals. A megger test may damage the instrument.  In order to ward off the rudder pushes the mechanical stopper, operate the lever not to reach more than 35 degrees of rudder angle indication.  In an area where many ships are sailing, it is dangerous to change course using the override steering function while AUTO steering mode. Manual steering is preferable in such cases.

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< 1.General >

1.

General

1.1

Introduction

1-1

The PT500A Adaptive Autopilot is a digitally controlled automatic steering unit which has been developed on the basis of the Model PT200 Autopilot; the PT200 Autopilot has been highly appreciated from many customers. The PT500A has separate steering functions for each unit to permit easy configuration of consoles, cockpits and other types. The adoption of function keys ensures operability. A rich variety of actuators are available to ensure combination with all steering gears.

1.2

Standard Model PT-500A-- (TWIN RUDDER) Twin-rudder system Type of steering gear Style of control stand S: Stand J : Stand with built-in gyrocompass P: Built-in panel

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< 2.Configuration >

2.

Configuration

2.1

Control Stand The control stand of the PT500 Autopilot is composed of units separated by function. Figure 2-1 illustrates the individual units and their functions. The structure and function of each unit are described on the following pages: CONTROL STAND Stand with top panel

AUTO STEERING UNIT(PB343) AUTO STEERING UNIT (PB345) STEERING REPEATER COMPASS (MKR056) ANNUNCIATOR UNIT (PH614) SWITCH UNIT (PH718) SWITCH UNIT (PH720) SWITCH UNIT (PH721)...Optional HAND STEERING UNIT (PB335)

 Units inside stand

TERMINAL UNIT(PN026) MASTER COMPASS (MKM026)

STEERING REPEATER COMPASS (MKR056) ANNUNCIATOR UNIT (PH614) AUTO STEERING UNIT (PB345)

SWITCH UNIT (PH721) AUTO STEERING UNIT (PB343) SWITCH UNIT (PH720)

SWITCH UNIT (PH718) HAND STEERING UNIT (PB335)

Figure 2-1

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< 2.Configuration >

2.2

Individual Units and Their Functions

2.2.1

AUTO STEERING UNIT (PB343) The Auto Steering Unit incorporates the functions required for auto steering, and is composed of a CPU to control calculations and signal/data input/output, and a man-machine interface which supports setting and display functions.

1

16

14

2

13 SPD AUTO 23.5 Kt ––––––––––––––––

3

15

4 11 17

9



5

6

7

10

8

12

Data display The display of various set data and alarm factors, calculations of hull parameters, and the display of results as well as other operations are provided by the operation of 16 key switches and course setting dials. Furthermore, the rudder angle and turn rate can be displayed in bar graphs by selection on the display screen.



Gyrocompass selection key This key is used to select the gyrocompass.



Auxiliary compass selection key This key is used to select the auxiliary compass. If the auxiliary compass is not connected, it cannot be selected.



Buzzer stop key Pressing the buzzer stop key stops the buzzer in the event of an alarm and allows the alarm item to be checked.



Rudder limit setting key Pressing the rudder limit setting key sets the rudder angle to control auto steering rudder limit angle. When the limit is reached, " LIMIT" or "LIMIT " appears on the data indicator.



Off-course alarm setting key This key is used to set the deviation angle to detect an off-course alarm. Off-course alarm will be disabled if the Aux.compass is not connected.

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< 2.Configuration >

OP'N MODE selection key Select one of the following modes:



ECONOMY:

for auto steering with emphasis on fuel saving steering during ocean going.

PRECISION 1:

When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel.

PRECISION 2:

for auto steering with emphasis on course keeping in cruising area where ships are converging, or in passage through narrow channels.

Draft mode selection key Select one of the following three modes: FULL: MIDDLE: BALLAST:



Full-load mode (80 to 100% of designed full load draft) Middle mode (55 to 80% of designed full load draft) Ballast mode (less than 55% of designed full load draft)

Ship speed setting key This key is used to select ship speed mode between the automatic input and manual input modes, and to set the ship speed in the manual mode.



Parameter setting key This key is used to set the dimmer contrast, pilot control, hull parameter and so forth. Data up/down key Pressing this key allows switching of items and adjustment of values for setting. Data definition key This is used to define the set items and values. Course setting dial The course can be set by turning the dial while pressing. One dial rotation changes the set course by 25 degrees. Turning the dial in a clockwise direction increases the set course angle, while turning it in a counterclockwise direction decreases it. Furthermore, pressing and turnkey during normal display allows updating of the set ing the dial while pressing the course, including the numerals below the decimal point. (One dial rotation changes it by 2.5 degrees.) Course setting key Pressing the key dekey increases the set course angle, while pressing the creases it. The set course angle including the numeral below the decimal point is changed by pressing the key or key in the standard display while pressing the key. Heading read key The heading entered by pressing the key is read as a set course. Set course display unit This displays the current set course. Course change control mode selection key This key is used to select the automatic course change control mode.

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< 2.Configuration >

2.2.2

HAND STEERING UNIT (PB335) The hand steering unit commands rudder angle and indicates command rudder angle and steering direction during hand steering.

UPPER PANEL STEERING REPEATER COMPASS (MKR056)

COVER ANNUCIATOR UNIT (PH614)

AUTO UNIT (PB345)

DC NO.2

NO.1

PWR ON

PWR ON

PWR FAIL

PWR FAIL

ACT RUN

ACT RUN

ACT FAIL

ACT FAIL

SPD AUTO 23.5 Kt ––––––––––––––––

0

260 270 280 290 250 30 0 31 W 0

8 7

0 23

0

24

SWITCH UNIT (PH721)

14

6

170 180 190 20 0 60 21 0 1 0 22 S 0

15

FAIL DIMMER

5

OFF CRS

1

4

OFF CRS

0

0

080 090 100 1 1 0 70 12 0 0 0 13 E 0

CAUT ALM

9

04

06

CAUT ALM

0

0

EMRG ALM

03

N

05

EMRG ALM

350 000 010 020

3

PID2 AUTO FAIL

0

32

340

2

PID1 AUTO FAIL

0

33

AUTO UNIT SELECTOR SWITCH

RUN SYNC DIMMER

ADAP

PID

SPD AUTO 23.5 Kt ––––––––––––––––

SWITCH UNIT (PH720) AUTO STEERING UNIT (PB343)

AUTO

AUTO

STEERING MODE SELECTOR SWITCH

HAND

NAVI

RC

SWITCH UNIT (PH718)

MODE

S

P

NON FOLLOW-UP STEERING LEVER NFU OFF FU-2

FU-1

NFU

NFU

HAND STEERING UNIT (PB335)

SYSTEM SELECTOR SWITCH

SYSTEM

STEERING ANGLE INDICATOR STEERING DIRECTION INDICATOR LAMP

STEERING HANDLE

(1) Steering angle indicator The steering angle indicator indicates the rudder angle specified by the steering handle in the hand steering mode.

(2) Dimmer This is used to adjust the brightness of the steering angle indicator lamp.

(3) Steering direction indicator lamp This lamp shows the actuator operation. : Lights up when the actuator is moving in the left rudder direction. : Lights up when the actuator is moving in the right rudder direction.

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< 2.Configuration >

2.2.3

STEERING REPEATER COMPASS (MKR056) The steering repeater compass receives serial signals from the master compass and drives the repeater compass card to indicate the course of the vessel. The compass is provided with a vernier card that can be read in increments of 1/10 degree. When the steering repeater compass is fed power form the master compass, the repeater compass card turns and adjusts to zero degree while the zero tracking LED is blinking. The LED is lit after the indicator points to zero on the repeater compass card. In response to serial heading signals from the master compass, the repeater compass card turns and follows the heading.

0

20

33

340

1

8 7

3

250

E

2

080 090 100 1 1 0 70 12 0 0 0

06

9

0

Error LED (red)

0

05

260 270 280 290 30 0 31 W 0

3

350 000 010 020 03 0 04 N 0

0

6

14

0

24 0 23 0

S

15

Dimmer

170 180 190 200 60 2 0 1

10

22

RUN SYNC

5

Zero tracking LED (gleen)

4 0

FAIL

13

Zero tracking switch

DIMMER

(1) Zero tracking switch Use this switch when the compass reading is out of alignment.

(2) Dimmer The dimmer adjusts the brightness of the repeater card, error LED, and zero tracking LED.

(3) Zero tracking LED (green) This LED is normally lit and blinks only when the repeater compass is performing zero adjustment.

(4) Error LED (red) This LED normally stays out, but is lit or blinks when the repeater compass detects an error.

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< 2.Configuration >

2.2.4

SWITCH UNIT (PH720) This is a switch to select the steering mode. This has a cam switch to permit selection in four steps. The following shows the symbols for the steering modes: AUTO

HAND

NAVI

NAVI : Steering controlled by external computer, etc. (optional)

RC

AUTO : Automatic steering HAND :Manual steering RC :

Remote control steering (optional)

MODE

These symbols are displayed on LEDs. The dimmer is used also by the PH718.

2.2.5

SWITCH UNIT (PH721) (optional) ADAP

PID

This is an auto steering unit selector switch when the digital PID auto steering unit (optional) is installed. The dimmer is used also by the PH718.

AUTO

2.2.6

SWITCH UNIT (PH718) This unit is provided with a control system selector switch and non-follow-up steering lever.

(1) System selector switch This switch selects the control line in the pilot stand. The following steering control lines are provided: OFF : Power off position

S

P

NFU LEVER

FU-1 : System No.1 FU-2 : System No.2 NFU : Non-follow-up steering system

DIMMER

NFU

(2) Non-follow-up steering lever

OFF FU-2

FU-1

NFU

NFU

SYSTEM SWITCH SYSTEM

This self-returning lever switch is used for non-follow-up steering. Throwing this lever to the right or left starts steering. When it is released, the rubber stops at the present position. Non-follow-up steering can be used when the system switch is set to the NFU position.

(3) Dimmer The dimmer adjusts the brightness of the LEDs which display the symbols on the plate. It is used for both the PH720 and PH721.

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< 2.Configuration >

2.2.7

ANNUNCIATOR UNIT (PH614) This unit indicates the operation status of the power supply, steering unit and auto steering unit, and issues an alarm in the event of a failure. The alarm point changes depending on the steering gear to be combined, and the lamp arrangement changes accordingly.

(1)

Indicator lamps

The number of indicator lamps and indication items are different depending on the configuration of the autopilot and steering gear. The labeling and meanings of the indicators normally used are as follows:

DC NO.2

NO.1

PWR ON

PWR ON

PWR FAIL

PWR FAIL

ACT RUN ACT FAIL

DC :

24 VDC (battery) power indicator lamp (green) This lamp goes off if there is no 24 VDC power supply.

PWR ON :

100 VAC power indicator lamp (green)

ACT RUN

PWR FAIL :

100 VAC no-voltage alarm lamp (red)

ACT FAIL

ACT RUN :

Actuator run indicator lamp (green)

ACT FAIL :

Actuator failure alarm lamp (red) Factors causing this alarm differ depending on the type of steering gear.

AUTO AUTO FAIL EMRG ALM CAUT ALM OFF CRS

AUTO FAIL : Auto steering unit failure alarm (red) Lights up if the CPU of the auto steering unit has become faulty. EMRG ALM : Emergency alarm lamp (red) This alarm requires that the control system or steering mode be switched over as soon as the alarm has occurred. See SECTION 5 for details on the causes of these alarms. CAUT ALM :

Caution alarm lamp (red) This alarm is designed to have marginal time to allow corrective action to be taken when the alarm has occurred. See SECTION 5 for details on the cause of these alarms.

OFF CRS :

Off-course alarm (red) (if the magnetic compass is connected) This alarm is issued if the preset course and heading based on the magnet compass have exceeded the set limit for longer than a specified time. However, this alarm function is released during a course change.

BZ STOP

DIMMER

(2) Buzzer stop key The buzzer is stopped by pressing this key when an alarm has occurred. At the same time, the flickering alarm lamp is turned off or is continuously lit.

(3) Dimmer, lamp test keys These keys are used to control the brightness of the indicators in the unit and to test the lamp and dekey increases the indicator brightness, while pressing buzzer. Pressing the and keys will start the lamp test creases it. Simultaneous pressing of the two function; the indicator will flicker and the buzzer will sound.

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2.2.8

< 2.Configuration >

TERMINAL UNIT (PN026) The terminal unit provides input/output repeating and switching among the auto steering unit, hand steering unit, switch unit, annunciator unit, steering repeater unit, control and power box, and other external equipment and the power line. (1) The unit converts the steering angle signal θ from the automatic steering unit into current, and sends it to the control power box. (2) It converts the rudder angle feedback signal µ from the control and power box, and sends it to the auto steering unit.

TERMINAL UNIT (PN026)

WARNING RISK OF ELECTRICAL SHOCK Turn off the power supply before starting the wiring.

CAUTION No megger tests except for the on-board power supply terminals. The megger test may damage the instrument.

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< 3.Operation >

3.

Operation

3.1

Operation

3.1.1

Preparation Prior to start-up, do the following: (1) Check that the steering gear is ready for operation. (2) Check that control & power box power supply is on. Check also that the test mode switch of the control & power box is set to normal. (3) Check that the annunciator unit's no. 1 and no. 2

PWR ON

indicator lamps are lit.

(4) Check that the steering repeater compass gives a correct heading.

AUTO

HAND

NAVI

RC

After a preliminary inspection has been completed, the switch can be operated from the control stand. (5) Set the MODE switch to the "HAND " position.

MODE

(6) Set the steering handle to the midship position.

OFF FU-2

(7) Set the SYSTEM switch to FU-1 (NO.1 SYSTEM) or FU-2 (NO.2 SYSTEM).

FU-1

NFU

NFU

When the switch is set, the caution alarm, the data display of the auto steering unit will indicate the following, and the buzzer will sound. SYSTEM

PROGRAM START NN Version CR155x##

NN… denotes the hardware revision. X.... denotes the program version. ##... denotes the program revision.

of the annunciator unit. Then press the key Press the buzzer Stop button on auto steering unit. The display changes to the normal indication, making it possible to use automatic pilot. In the normal display mode, the vessel speed and heading are indicated as illustrated below: SPD aaaaa 12.5kt

vessel speed (indicated only when connected.)

HEADING-b 123.5°

vessel heading

aaaaa...vessel speed type

LOG-W : serial input speed thru the water LOG-G : serial input speed over ground PLUSE : pulse input MAN. : manual setting

b...vessel heading type

G : Gyrocompass heading M : Magnetic compass heading A : Aux.compass heading

(8) Selection between the two follow-up function systems is made with the system switch.

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3.2

Hand Steering If the mode switch is in the "HAND" position, follow-up steering can be done with the steering handle at any time.

WARNING Set the steering handle to the midship position before changing the mode switch to “HAND”. If there is a large difference between the actual rudder angle and the angle directed by the steering handle, switching to the HAND steering mode causes the rudder to turn greatly, and may involve danger.

3.3

Auto Steering

3.3.1

Preparation for Auto Steering Take the following procedure to prepare for auto steering:

(1) Defining the operation mode Select the operation mode according to the cruising area, weather and oceanographic conditions. 

The following currently set operation mode will be displayed on the display unit by pressing key in the normal display. the

OP'N= aaaaaaaaaa

"a......a" denotes the currently set operation mode. ECONOMY : For auto steering to ensure fuel saving during ocean navigation. PRECISION 1: When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel. PRECISION 2: For auto steering with emphasis on course keeping in cruising area where ships are converging, or in passage through narrow channels. 

If the displayed operation mode is satisfactory, press the the normal display.



To change the operation mode, press the played.

key again to get back to

key so that the change wait state is dis-

OP'N< aaaaaaaaaa

"a......a" denotes the operation mode to be set. The displayed operation mode changes as below every time the pressed.

or

key is

→ ECONOMY → PRECISION 2 ← → PRECISION 1 ← ECONOMY ← When the operation mode to be set is displayed, press the key to define the data. In this case, the data are displayed on the display unit as shown in .

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(2) Defining the draft mode Select the draft condition: 

The following currently set draft mode will be displayed on the display unit by pressing the key in the normal display.

DRAFT= aaaaaaa

"a.....a" denotes the currently set draft mode. FULL: Full-load mode (80 to 100% of designed full load draft) MIDDLE: Middle mode (55 to 80% of designed full load draft) BALLAST: Ballast mode (less than 55% of designed full load draft) 

If the displayed draft mode is satisfactory, press the normal display.



To change the draft mode, press the

key again to get back to the

key so that the change wait state is displayed.

DRAFT< aaaaaaa

"a.....a" denotes the draft mode to be set. Everytime you press the the displayed draft mode changes between full, middle and ballast.

or

key,

When the draft mode to be set is displayed, press the key to define the data. In this case, the data are displayed on the display as shown in .

(3) Confirming the course in the AUTO mode AUTO

HAND

NAVI

RC

When the steering mode is switched to "AUTO", the auto steering unit performs auto steering to maintain the current course. (The value below the decimal point of the setting course is rounded off.)

MODE

(4) Set course entry There are three methods for setting the course. Use any of the appropriate methods according to the particular situation. 

Entering the course via course setting dial Turn the dial in a clockwise direction while pressing it, and the set course angle in the course is increased. Turning it in a counterclockwise direction decreases the set course angle. Course settings below the decimal point cannot be updated. Pressing and turning the dial while pressing the key during normal display allows updating of the set course, including the numerals below the decimal point.



Setting the course-by-course setting key (

)

Pressing the key decreases the course angle on the display. Pressing the key increases it. Note that the set course below the decimal point cannot be updated. The set course angle including the numeral below the decimal point is changed by pressing key or key in the standard display while pressing the key. the

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Entering the course via the heading set key Pressing the key one second, transfers current gyrocompass heading into the set course display. Note that the digit below the decimal point will be rounded off. Also, the buzzer will sound when the display changes. This is a convenient method of setting the desired course while watching the steering repeater compass during MANUAL steering.

The set course angle on the set course display is retained even if the power supply is turned off.

NOTE

The value of set course display is recorded in AUTO STEERING UNIT when the system is restarted. Turn on the control stand after switching to HAND mode, Because the rudder moves immediately if the course deviation is existing.

3.3.2

Course Change during Auto Steering The course is changed by pressing the course setting dial or course setting key, and automatic course change starts according to the new set course. The following three types of control modes are available for automatic course change control:

(1) P-D controlled course change Automatic course change function to minimize the course change time normally used during ocean navigation

(2) Constant rate of turn course change Constant rate of turn course change function effectively used in the narrow channel. Hull length and speed are used as parameters for control.

(3) Constant radius course change Automatic course change to keep constant turning radius when changing the course. Ship speed is used as a parameter for the control. The course change mode is selected by pressing the

3.3.3

key switch. (See section 4.7.)

NAVI Steering (optional) The system receives the steering command signal from integrated navigation system (INS) when the steering mode switch is selected to [NAVI]. The course display of Auto steering unit indicates the course to steer form INS and the system starts automatic steering in accordance with the command from INS.

CAUTION If the faulty course signal is maintained uncorrected for time out limit, "NAVIGATOR" (Timeout error ) alarm is generated. At that time, the present heading is read as the set course until changing MODE switch and the set course display changes as follows:

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The heading when "NAVIGATOR" alarm is generated.

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3.3.4

Override Steering (optional) If a temporary course change is required to avoid collision with other ships during auto steering, it is possible to change the course easily with the steering lever of the override switch unit.

Operation procedure •

Starboard command The ship will continue to turn to the starboard while the lever is turned to the right. OVERRIDEƒ HEADING-G 135.6°

The course settings and

•

The data are displayed on the display unit as shown on the left are displayed alternately on the set course display.

Port command The ship will continue to turn to the port while the lever is turned to the left. „OVERRIDE HEADING-G 140.2°

The course settings and

The data are displayed on the display unit as shown on the left are displayed alternately on the set course display.

When the lever is set in the neutral position, the auto steering unit makes control so that the current compass heading will be maintained. (The course display and are displayed alternatively on the set course display.) To get back to the original course after override steering, press the Course Again switch ( C A ) at the bottom left of the lever. In this case, the set course is continuously displayed on the set course display unit.

CAUTION In an area of ship congestion, it is dangerous to change course using the override steering function while in the auto steering mode. Manual steering is preferable in such case.

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3.3.5

Safety Functions for Automatic Steering

(1) Rudder limit The steering angle is limited during auto steering to ensure ship safety. The command steering angle having reached the preset steering angle limit is indicated on the upper part of the data display as follows: LIMITƒ HEADING-G 135.6°

When the rudder limit on the starboard side has been reached:

„LIMIT HEADING-G 140.2°

When the rudder limit on the port side has been reached:

Rudder angle limit function •

P-D controlled course change The rudder limit function is operated by the limit value set on the

•

key.

Constant rate of turn course change The rudder limit function is operated by the limit value set on the key, whichever is greater. turn value set on the

key or the rate of

(2) Course deviation alarm cancel When a course change of more than 1 degree is specified, the alarm action is canceled. It returns to the original position if a course deviation of less than 3 degrees continues for more than 30 sec.

(3) Integral action limitation •

When course change command is less than 10 degrees, the previous integral amount is retained.

• When course change command is 10 degrees or more, the previous integral amount is reset to "0" (zero).

3.3.6

Maneuvering for Reading Ship Parameters The initial set values for the adaptive control parameters are entered by our service engineers at the time of installation based on the hull design dimensions. Hull movement parameters in conformity to the navigation conditions are set by maneuvering for reading ship parameters in the auto steering mode, and optimal adaptive control is carried out.

NOTE

For reading ship parameters, the ship should be maneuvered in an area less affected by disturbances such as tidal currents under the conditions of the Beaufort scale of 3 (wave height: 0.5 m; wind velocity: 5 m/s) or less. The draft mode should be Full Load (80 to 100% of the intended load).

(1) Preparation a) Keep cruising speed constant. b) Operate the key to call out the Course Change Control mode, and select the Constant Rate of Turn Course Change Control; then set the rate of turn to 5 deg./t.

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c) Operate the and set "ENABLE".

key to call out the parameter update computation (ADJUST MODE 9)

(2) Maneuvering for parameter reading Repeat course changes of 20 degrees or more as shown in “Figure: Parameter reading”. Parameter update computation will be completed 10 to 15 minutes after this maneuvering is started. Parameter update computation is executed for each course change. 10 to 15 min. Course change

Course change

40°

Course change t

Set course 20° 5-min. straight run

40°

A

A

A

A: Parameter reading in progress

Figure: Parameter reading

During a parameter reading, data display 2 will read as follows: IDENTIFICATION … =UPDATE X Number of parameter iterations. During a parameter reading, the displayed character will flicker. Flickering will stop when the parameter update computation is over.

or keys. The (3) When the parameter update computation is completed, press the updated selection parameters will then be displayed. “TV,” “KV”, “S/SU” will appear every time the or key is pressed. (4) Press the "DISABLE".

or

Then press the

key to display “UPDATE X”, then press the

key to display

key, and the data display will read as follows:

IDENTIFICATION … =

DISABLE

When the above display is given, press the

NOTE

NOTE

key to complete the operation.

When parameter read maneuvering is completed, be sure to "DISABLE" parameter update computation. When the parameter has been updated by this maneuvering, the ship will thereafter be maneuvered according to the new parameter.

If satisfactory steering performance cannot be obtained by parameter read maneuvering, operate the key to call out the parameter update computation (Adjust Mode 9 Initialize), and cancel the updated data (initialize it).

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3.4

< 3.Operation >

Remote Steering: RC (optional) Setting the mode switch to RC enables remote steering. Both portable and mounted steering units are available. If there are multiple steering positions, a steering position selector switch will be provided, so the steering position should be checked carefully.

WARNING When switching the steering mode to HAND or remote, always set all the steering handles and remote dials to the midship position before changing the mode

3.5

Non-follow-up Steering Setting the system switch to the NFU position selects non-follow-up steering. The steering lever is on the right side of the hand steering unit. The steering lever has on-off action with a self-return. As long as the lever is held to one side, the rudder will turn to that side. The helmsman should watch the rudder angle indicator while operating the lever.

S

P

NFU OFF FU-2

FU-1

NFU

NFU

SYSTEM

CAUTION In order to ward off the rudder pushes the mechanical stopper, operate the lever not to reach more than 35 degrees of rudder angle indication.

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3.6

3-9

Switching to AUX.compass When switching from the gyrocompass to the AUX.compass and correcting the deviation angle of AUX.compass, do not perform auto steering with the auto steering unit (Correct the deviation angle by hand or NFU steering). (1) Press the

key in the normal display mode as follows:

SPD LOG-W 12.5kt

Ship speed and gyrocompass heading

HEADING-G 102.0°

Then the data display unit will prompt for a deviation angle as follows: AUX COMP. CORR.


4.

Key Operation

4.1

Switching The Display

Display item or

The display items are switched every time you press

.

(a) Display of ship speed and heading SPD LOG-W 12.5kt Display of automatically entered ship speed (Serial TW) HEADING-G 256.3° Display of gyro compass heading

SPD PULSE 12.0kt Display of automatically entered ship speed (PULSE) HEADING-A 256.3° Display of Aux.compass heading

SPD LOG-G 12.5kt Display of automatically entered ship speed (Serial TG) HEADING-M 256.3° Display of magnetic compass heading

SPD MAN. 12.0kt Ship speed manual entry HEADING-A 256.3° Display of Aux.compass heading

(b) Display of rudder angle

Bar graph display of rudder „ ‹‰‰ angle command RUDD-COM. P18.5ˆ Display of rudder angle command

‰‰Š ƒ Bar graph display of actual rudder angle RUDD-ANG. S19.3ˆ Display of actual rudder angle

(c) Display of rate of turn „ Š‰‹‰‰ R.o.T. P20.3†min

Bar graph display of rate of turn

Display of rate of turn

(d) Display of course deviation ‰‰‹’ CRS DEV'N S12.5°

Bar graph display of course deviation

Display of course deviation

(e) Display of operation mode (one of the following)

Maintaining the course XXXXXX CONTROL STEADY

RATE

Changing the course with a CONTROL fixed rate of turn (20º/t) 20†‡

XXXXXX : COURSE (=PT500A) or BNAAC

Changing the course in PD COURSE CONTROL control mode ALTER

RATE

Changing the course with a CONTROL fixed rate of turn (30º/min) 30†min

Changing the course with a RADIUS CONTROL fixed radius (1.5 nm) aR=01.45 1.50nm Actual radius is 1.45 nm

MANUAL CONTROL

Manual control

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(f)

Display of gyrocompass and AUX.headings (when the AUX.compass is connected and the off-course alarm is enabled only) HDG-GYRO

123.4°

HDG-AUX.

124.6°

Gyrocompass heading

AUX.compass heading

(g) Display of limit angle for off-course alarm (when the AUX.Compass is connected and the off-course alarm is enabled only) CRS-AUX. DEV.

123.5° E002.4°

↑

Course setting of AUX.Compass

Deviation angle from the course setting

A deviation angle can be obtained from the following equation: Deviation angle = AUX.Compass heading – Course setting “W” means the deviation < 0, and “E” meanes the deviation >= 0.

CRS-AUX. 123.5° DEV. ----.-°

Course setting of AUX.Compass

When the off-couse alarm is disabled, the steering mode is other than AUTO and NAVI, or the PT500A is changing the course.

(h) Display of program version (1) MainCPU-CR155K10 CalcCPU-CR325A10

(i)

Main program version

Calc program version

Display of program version (2) This message is displayed on the system which equips with BNAAC. BNAAC

-CD075A07

BNAAC program version

The above items are switched every time you press

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.

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4.2

Setting The Rudder Angle Limit Set the maximum command rudder angle during auto steering. The command steering angle having reached the preset steering angle limit is indicated on the upper part of the data display as follows: Wen the rudder limit on the starboard side has been reached:

Wen the rudder limit on the port side has been reached: „LIMIT HEADING-G 123.5°

LIMITƒ HEADING-A 235.6°

It should be noted, however, that the limit function does not work for the integral control volume of the command rudder angle. (1) Press the

key, and the data display unit will indicate the following:

RUDDER LIMIT=10°

Currently set rudder limit value

(2) If the displayed rudder angle limit is satisfactory, press the the normal display). To change this value, press the on the data display unit as follows:

RUDDER LIMIT

4.4

Setting The Operation Mode Select the operation mode according to the cruising area, weather and oceanographic conditions during navigation. (1) Press the key during normal operation, and the currently set operation mode will be displayed on the data display as follows:

OP'N= aaaaaaaaaa "a......a" denotes the currently set operation mode.

ECONOMY: PRECISION 1: PRECISION 2:

For auto steering to ensure fuel saving during ocean navigation When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel. For auto steering with emphasis on course keeping in cruising area where ships are converging, or in passage through narrow channels

(2) If the displayed operation mode is satisfactory, press the the normal display. (3)

To change the operation mode, press the

key again to get back to

key so that the change wait state is displayed.

OP'N< aaaaaaaaaa

"a......a" denotes the operation mode to be set. The displayed operation mode changes as below every time the pressed.

or

key is

→ PRECISION 1 ← → PRECISION 2 ← → ECONOMY ECONOMY ← When the operation mode to be set is displayed, press the In this case, the data are displayed on the display as shown in (1). SPD LOG-W 12.5kt HEADING-G 256.3°

OP'N= aaaaaaaaaa

OP'N


4.5

4-7

Setting The Draft Mode Select a draft condition of the ship. (1) Press the key during normal operation, and the currently set draft mode will be displayed on the data display as follows:

DRAFT= aaaaaaa

"a.....a" denotes the currently set draft mode. FULL: Full-load mode (80 to 100% of designed full load draft) MIDDLE: Middle mode (55 to 80% of designed full load draft) BALLAST: Ballast mode (less than 55% of designed full load draft) (2) If the displayed draft mode is satisfactory, press the normal display. (3) To change the draft mode, press the

key again to get back to the

key so that the change wait state is displayed.

DRAFT< aaaaaaa

"a.....a" denotes the draft mode to be set. The displayed draft mode changes between “FULL”, “MIDDLE” and “BALLAST” every time or key is pressed. the → FULL → BALLAST ← → MIDDLE ← FULL ← When the draft mode to be set is displayed, press the key to define the data. In this case, the data are displayed on the display as shown in (1).

SPD LOG-W 12.5kt HEADING-G 256.3°

DRAFT=

aaaaaaa

DRAFT