Hamilton Jet HTX30, Product Manual

Page: 76 / 182

Commissioning HTX30 Product Manual
5-34
Autotune tests
Autotune is a series of discrete tests:

You must separately initiate each of the tests.

Only one test can run at a time.

Some of the tests must be performed in a specific order, which is described in the following section.

All of the tests must be successfully completed as part of the JETanchor commissioning process.
Before starting each autotune test:

Inform the vessel master of the vessel's expected behaviour for that test.

Check with the vessel master that it is safe to take control of the vessel.

Ensure that the vessel master knows how to abort an autotune test and regain manual control
of the vessel, should the vessel's safety be in doubt when the test is running.
The vessel master can abort an auto tune test and take manual control of the vessel at any time, by
moving the Mouseboat.
The vessel is under automatic control when each autotune test is running. Significant engine
activity, waterjet activity and vessel movement occur while the tests are running.
The autotune tests are:

Calibrations, port and starboard. This test is performed twice (once for each waterjet) ( ► page 5-35).

Sensor orientation ( ► page 5-36).

Engine calibration. This test is performed twice (once for each waterjet) ( ► page 5-37).

Maximum velocity sway ( ► page 5-38).

Maximum velocity yaw ( ► page 5-39).

Vessel dynamics yaw (
►
page 5-40).

Vessel dynamics surge ( ► page 5-41).

Vessel dynamics sway ( ► page 5-42).

Positional step tests ( ► page 5-43).