• The position deviation limits are changed to the selected values and activated.
4
Close the Limits input dialog.
Autopilot setup
The optional
Autopilot
mode is set-up using the Pilot Setup input dialog.
Selecting the autopilot gain level
The gain applied to the yaw axis can be selected between three predefined levels,
Low
(50%),
Med
(100%) and
Hi
(150%).
Different gain factors for different gain levels are defined to suit the characteristics of the
vessel. The deviations in heading and turning rate are multiplied by the selected gain
factor to obtain the required thrust force and moment.
The most suitable gain level depends on the vessel characteristics, the weather conditions
and the required heading accuracy.
• A high gain level (150%) provides the quickest vessel response and the most accurate
manoeuvring.
• A medium gain level (100%) provides a slower vessel response than high gain.
• A low gain level (50%) provides the slowest vessel response.
To change the gain level applied to the yaw axis, proceed as follows:
1
Display the Pilot Setup input dialog.
2
Move the focus to the
Gain Level
field and either select the required gain level option.
3
Press the
Enter
button.
• The gain level applied to the yaw axis is changed to the selected option.
4
Close the Pilot Setup input dialog.
Setting the counter rudder gain
The counter rudder gain can be set in the range from 50 to 150%, with a default of 100%.
The counter rudder gain serves two purposes, firstly to give a smooth transition to a new
heading after a major course change, and secondly to enable the autopilot to stabilise
the vessel on a straight course.
If the counter rudder gain setting is too low, there may be an overshoot past the new
heading and it may take a long time before the new heading is stabilised.
If the counter rudder gain setting is too high, there may be an over-correction followed
by a small overshoot past the new heading, and the vessel may then tend to oscillate
around the new heading. A typical symptom here is an over-active rudder.
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