Hamilton Jet HTX30, Product Manual

Page: 82 / 182

Commissioning HTX30 Product Manual
5-40
Autotune test: Vessel dynamics yaw
Test name 7. Vessel Dynamics Yaw
Purpose

Measures the dynamics of the vessel in the yaw axis

Captures information needed by the yaw axis controller
Prerequisites

The blue ARROW system has been commissioned and is alarm free

JETanchor system is installed

JETanchor Mouseboat is in control

0. Calibrations Port and 1. Calibrations Starboard tests have been
successfully completed

2. Sensor Orientation test has been successfully completed

3. Engine Calibration Port and 4. Engine Calibration Starboard tests
successfully completed

6. Maximum Velocity Yaw test successfully completed
Required test area The vessel may move within a zone 100 metres
wide and 100 metres long
The vessel must be in calm water away from
other water users and hazards such as fixed
objects
Expected system
behaviour

The vessel automatically rotates to port and then automatically rotates to
starboard

The rotation in both directions is repeated five times

Approximate test time for a medium-size (twin HJ364) vessel: 2 minutes 30
seconds. Test time is normally longer for larger vessels and may be shorter
for smaller vessels
Test procedure

Before starting the test, confirm with the vessel master that it is safe to take
control
The vessel master can abort an auto tune test and take manual control
of the vessel at any time, by moving the Mouseboat

Orientate the vessel either head-on or stern-on to any wind or current that is
present

Select test 7. Vessel Dynamics Yaw, then click Next when you are ready to
start the test

Monitor vessel behaviour at all times during the test and abort the test if
unexpected behaviour occurs

If the test is unsuccessful, click Next to repeat the test. Each time a test
repeats it occurs at a slightly lower velocity. If the test is unsuccessful after
three repeat attempts, the test has failed

Controller gains are automatically calculated and displayed at the conclusion
of this test. Click OK to continue

Inform the vessel master when the test is complete and confirm who has
vessel control
Typical results