JRC Alphatron Marine AlphaDynaPos, Руководство по эксплуатации

Страница: 15 / 86

15 | Introduction
III.5 System Principle - Schematic Overview
In this chapter is explained how the data flow of the DP system works. A system diagram visualizes how information
flows through the system processes.
Schematic Overview
The schematic overview of the system has the different sensors grouped into one symbol. This includes Gyro, DGPS,
and MRU sensors. The sensor filter checks each sensor signal and activates an alarm if a sensor fails.
Figure 4: Schematic Overview
The control block receives position and speed errors from the sensor filter and calculates the proper response. This is
sent to the vector selection block which also receives the mode that the user has selected and the position of the joystick
and the rotation knob. The block decides what to send to the force calculation block.
The force calculation block receives user or controller vector, wind and current forces, and it summarizes this to a total
force that is passed onto the Thruster allocation. This block decides how thrusters should be used, and sends the Set
Point for each thruster to the thruster ramp block. The thruster ramp applies the Set Point changes while taking into
account how fast a thruster can change angle and RPM. Also the approximate current is calculated from the applied
thrust and fed back to the force calculation block.