Simrad Robertson AP9 Mk3, Инструкция по эксплуатации, Страница: 152 / 202

Robertson AP9 Mk3 Autopilot
5-62
20169223D
5.20 Sea Trial
The purpose of the sea-trial is to test the steering characteristics of the
vessel during manoeuvring and cruising and adjust the autopilot
parameters for optimum steering performance.
The steering characteristic varies from vessel to vessel, due to hull
construction, speed, rudder type/size etc. It is therefore important to
observe the behaviour of the vessel for rudder commands (amount
and duration) when steering the vessel by hand (HELMSMAN) on a
fixed heading and when making course changes and turns. The
autopilot parameters should be adjusted to perform the steering with
as few rudder commands as possible, and with as little rudder
deflection as possible.
The following guide lines may be of use to adjust the parameters:
Steering on a fixed heading
Before switching the autopilot to AUTO function, set the parameters
as follows:
• Control Unit parameters:
Counter Rudder 1
Rudder 1
Weather OFF (See note)
Note !
The Weather parameter will set the sensitivity deadband for minimum when
OFF (sensitivity deadband controlled by the rudder deadband). By
increasing the WEATHER from OFF to a value, the displayed value is the
maximum sensitivity in degrees.
•
INFO loop I parameters:
Turn Rate appr. 50°/minute
Radius/Rot Set to Turn Rate
Rudder lim appr. 15°
Off Course 15°
Autotrim Initial OFF. When steering
parameters has been adjusted,
set the
Autotrim to 1
•
INFO loop II
Deadband 0,6 – 0,8°
Min. Rudder OFF
Serv. speed Set to ship’s relevant speed
Speed sens. 0,3
Min. Radius 0,05 nm (
≈
140°/m)