NAVIS NavDP 4000. Operation Manual
Control
The green bar corresponds to the control moment
M
control
.
Actual
The yellow bar corresponds to the actual moment
M
actual
.
Disturbance
The blue bar corresponds to the moment required to compensate an external disturbance moment
M
disturb
.
The value of
M
demand
depends on rotary knob position – it is proportional to knob position.
The grey bar shows all possible (achievable) values for
M
for the present conditions.
6.1.2.1
Thrust Ability Diagram. Forces
The bottom bar is related to the force
F
.
Joystick
The symbol
corresponds to the to the demand force
F
demand
.
Control
The green vector corresponds to the control force
F
control
.
Actual
The yellow vector corresponds to the actual force
F
actual
.
Disturbance
The blue vector corresponds to the force required to compensate an external disturbance force
F
disturb
.
The value of
F
demand
depends on joystick position
Maximum values of demand X- and Y-forces are the system parameters, they are tuned during the system calibration.
The grey area shows all possible values for
F
provided that the demand for
M
would not be changed. The scales are
in % to maximum.
At “Speed VECTOR” mode (see Section 9.3.5, page 168) the
corresponds to the joystick position, specified speed
is proportional to the joystick position.
Maximum value of vessel speed is the system parameter, it is tuned during the system calibration.
If the system operates in the automatic control position mode ([POS]) the
F
demand
is automatically calculated accord-
ing to the control algorithm.
6.1.2.2
Thrust Ability Diagram. Possible Forces/Moments Area
The grey bar for moment
M
and grey area for thrust
F
are of maximum size if:
– maximum power (from diesels or generators) is provided to the thrusters;
– all the thrusters are included in the Auto Thruster Group;
– all the limits in the Thruster Page and Power Page are set to maximum (100%).
If you set 50% limit to a thruster producing the turning moment and transverse thrust (for instance, a tunnel thruster),
the diagram changes but without any change in the longitudinal force.
The graphical view of the thrust acceptable values is the grey region. In case the
F
demand
value is greater than the
acceptable one the system set the
F
value equal to the maximum one.
The joystick symbol
exactly means the actual demand for
F
only if the joystick symbol remains inside the grey
area.
The actual value
F
actual
is displayed as a white vector.
Any change of the actual value
F
actual
makes to change the moment acceptable values range representing by a grey
bar.
The knob sets the moment
M
according to the rotation angle. As mentioned above the acceptable values range is
graphically represented by a dinamic grey bar. In case a
M
value assigned with the knob rotation is greater than the
acceptable one the system sets the actual value equal to the maximum one.
Therefore, the knob symbol
exactly means the command value for
M
only if the knob symbol remains inside the
grey bar.
The actual value of
M
is displayed as a white bar.
If the knob symbol approaches the boundary, the grey area for
F
approaches the joystick symbol. However, if the
knob symbol crosses the boundary, the grey bar for
M
expands in order to have the knob symbol inside. In that case the
actual command value for
M
remains proportional to the knob position, but at the cost of insufficient value of
F
. That is
because the vessel’s heading is given a priority.
103
Doc. 000.JDP-10000-OME, rev.3.3.13/“2102.$–17A-Advanced”
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