Auto Pilot Doc v3 20-4-11

TECHNICAL DOCUMENT
AUTOPILOT model: LTD1.00; LTD2.00
CNG TY TNHH T NG HA GIA KHNH

GIAKHANH AUTOMATION CO., LTD
www.giakhanh.com---------------------------------------------------------------------Autopilot_Technical_Doc_Version2.00/2010 1
TECHNICAL DOCUMENT
1 Gii thiu - introduction 3

2 Nguyn tc hot ng, vn hnh - Rule of operation 8
3 Cc li c bn thng gp khi vn hnh - Faults in operation 10
4 Hng dn nhanh - quick help 12
5 Ni dung - contents 15
6 Bng cc tham s ci t mc nh - factory set default 26
7 Bng cc thng bo li - All of Alarm list 27
8 Lp t phn hi gc b li - Rudder angle transmitter installation 28
9 Bn v - drawing 29
10 Cc chng ch - Certifications 30
TECHNICAL DOCUMENT
Chng nhn chng trnh phn mm

1. INTRODUCTION
ci t trn PLC cho h thng li t
ng ca ng kim VR - GII THIU
1.1 Autopilot system - H thng li t ng
Model: LTD1.00; LTD2.00

1. ng dng - Application
H thng li t ng tu thy l mt h thng chnh m bo
hng i cho con tu, n c vai tr ht sc quan trong v
c xp vo nhm my mc rt quan trng khi phn chia
loi ph ti. LTD2.00 c y 03 ch li: li n gin
(NFU), li lp (follow up), li t ng (auto). H thng li ny
nh gn s dng giao din vn hnh 16 bit mu dng touch,
b x l PLC tc cao c thut iu khin PID ti u v c
th t chnh tham s vi dual rudder gain v weather adj 2
layers nhm tit kim nng lng ti a ng thi tng tui
th phn my li thy lc.
Cho php tch hp nhiu ci t trn mn hnh giao din.
Phn phn hi gc b li s dng CBL1.00 S
LTD1.00 c chng nhn ca ng kim VR cho php
s dng trn tu bin.
2. Thng s k thut - Technical specifications
- in p ngun (Un): ngun kp 220 AC 20%, 50/60Hz,
ngun s dng cho phn iu khin v ch th l 24VDC
5%
- Ch bo steering gear: c tch hp trn mt i li
TECHNICAL DOCUMENT
- Tn v ch trn plate: ting Anh
- Mu sn: xanh blue
- Phng php iu khin my li: tc ng trc tip ra
van ca my li theo ch PWM.
- Tn hiu ra iu khin van: tip im kh.
0
- Gc b bnh li: 45
- Kiu la bn s dng: la bn c tn hiu ra ni tip
NMEA0183, IEC61162-1/-2 vi cc khung truyn sau y:
$XXHDT,nnn.n,T*hh(CR)(LF)
$XXHDM,nnn.n,M*hh(CR)(LF)
$XXHCC,nnn.n,*hh(CR)(LF)
$XXHDG,nnn.n,d.d,E,v.v,E*hh(CR)(LF)
- chnh xc: 0.20.
- chnh xc li lp 0.10.
- Modbuss Address: 10A1 <-> D161
1- Tng thch SIMRAD GC80/GC85 Compact Gyro
Compass, nu dng RGC50 th phi lp thm b giao din tn
hiu signal interface unit c u ra NMEA0183.
2- Tng thch YOKOGAWA CMZ500, CMZ700B,S,D;
CMZ900B,S,D Gyro Compass
3- Tng thch SAMYUNG Gyro interface unit SAD-30DC vi
data out: $AGHDT,nnn.n,2*F(CR)(LF)
4- Tng thch FURUNO Gyro converter AD-100 vi data out:
$HEHDT,nnn.n,T(CR)(LF)
5-
- C u ra tn hiu gc b li (y l option): 10VDC,
20mA, 0(4)-20mA
- C cc u ra s ni tip (y l module CPU option
c ghp bus vi HMI, HMI trong ch read
autopilot CPU and write IEEE CPU): NMEA0183,
IEEE61162-1 cho VDR v cc thit b hng hi khc vi
khung truyn sau y:
$XXDRR,S/D*nn.n,S/P*dd.d,S/D*vv.v,E*hh(CR)(LF)
- Nhit : -20...65C (lc vn hnh).

3. Ci t v ch th - Settings and indication
- Gi tr ci t: H thng c khong 25 thng s ci t
c chia lm 2 nhm: nhm ci t mt ln khi lp t v
nhm ci t trc khi vn hnh. Cc thng s ny c
trnh by chi tit users manual.
4. Cch u ni v kch thc - Connections/dimensions
u theo s km theo ca users manual. S u
TECHNICAL DOCUMENT
ni c chia lm 3 nhm: nhm i li trn bung li,
nhm hp khi ng my li v nhm phn hi gc b li.
Kch thc i li 1000x600x500.
Cn nng xp x: 15 kg.
5. Thng s t hng - Order specifications
LTD1.00 i vi i li
CBL1.00 S i vi phn cm bin gc b li
TECHNICAL DOCUMENT
2. RULE OF OPERATION
NGUYN TC HOT NG, VN HNH
2.1 T khi ng my li:
- H thng bao gm hai t khi ng cho hai ng c bm my li c t ti bung
my li, c th khi ng hoc dng bm thy lc ca my li ngay trn t khi ng hoc t
xa. Nguyn tc ng m contactor khi ng cho bm trn c s mt thit b r le cht, n
m bo cht (lu/nh) li trng thi trc cho h thng c th hot ng tr li ngay sau
khi mt ngun v cp ngun tr li. Tnh trng ngun v trng thi hot ng ca bm c th
th bng n bo.
- H thng ngun cp 3 pha 380VAC cho t khi ng c ly t hai ni, bao gm
ngun t bng in chnh (main switchboard) v bng in s c (emg switchboard), vic
khng ch ngun cp c thc hin bi 02 abtomat. Ngun in 220VAC cp cho i li t
ng c ly t cc t in ny
- Ngoi kh nng hot ng c lp, song song ca tng t th h thng cn c kh nng
hot ng d phng (redundant). Khi c tn hiu khi ng mt my li (my li khi ng
trc th my li ng vai tr my li chnh) m contactor ca n khng tc ng (c th do
li ngun hoc qu ti.) th sau thi gian 5s (c th iu chnh li) n s t ng gi tn hiu
n t khi ng my li cn li khi ng my li d phng . Khi my li chnh b s c
khc phc xong s c v contactor ca n hot ng tr li th my li d phng s t ng
dng li.
- Trn c hai t khi ng u thit k h thng ngun in 24VDC cp cho van in t
b li sang tri v sang phi. Khi ng c bm ca my li no khi ng th h van ca my
li c t ng a vo hot ng. Khi cn gim thi gian b li c th khi ng ng
thi c hai my li. Tuy nhin, vic khng ch v tr iu khin v iu khin cp van in t ch
c thc hin ti mt t khi ng.
- Trn cc t khi ng iu thc hin vic thu thp cc s c, trng thi v chuyn thnh
cc tip im kh (dry contact) gi i bo ng ti bung li v bung my.
- Cc tn hiu bo ng cho my li bao gm:
+ Bo ng mt ngun;
+ Bo ng mt pha;
+ Bo ng qu ti ng c bm;
+ Bo ng mc kt du thy lc thp.
- Cc tn hiu trng thi cho my li bao gm:
TECHNICAL DOCUMENT
+ Bo c ngun in cho my li
+ Bo my li chy (khi ng)
2.2 i li t ng:
- i li t ng c t ti bung li, n thc hin cc chc nng c bn sau y:
+ Chuyn i v thc hin cc ch li: li n gin, li lp, li t ng.
+ Khi ng, dng v gim st bm thy lc
+ Ch th cc bo ng ca c my li v h li t ng bng m thanh v nh sng
+ Dimmer hng hi.
- H thng li t ng LTD1.00 vi cu trc bao gm 2 vng phn hi kn c tch hp
trn CPU 32 bit m bo cht lng n nh gi hng ca con tu. Tn hiu phn hi hng
i ca con tu c truyn v theo chun IEEE61162/NMEA0183, tn hiu phn hi gc b li
c cm bin di dng thit b o gc. Khi thi tit thay i hoc mn nc thay i (ti
trng thay i) th c th ci t li b iu chnh m bo tng cht lng ca h thng. Tn
hiu ra van b tri hoc phi l loi tip im kh/PWM c dng nh mc ln ti 10A. Ngoi
ra, c th thc hin cc ch li c bit khc nh: li, li chnh xc (tch phn)
- C th thc hin ci t hng i cho con tu ngay trn mn hnh touch, cc ci t
khc xem ti phn ni dung. Ngoi ra cn c th quan st chi tit cc li alarm ca my li v
ca i li ngay trn mn hnh ch th, cc m li xem phn bng cc thng bo li
TECHNICAL DOCUMENT
3. FAULTS IN OPERATION - CC LI C BN
THNG GP KHI VN HNH
3.1 T khi ng my li:
1. Khng khi ng c my li. Khc phc: Kim tra li cc cu ch trong mch cp ngun
cho h thng.
2. Bo ng mt pha bng n v ci. Khc phc: n nt tt ci buzzer stop v kim tra li
cc pha ca ngun cp
3. Bo ng mt ngun bng n v ci. Khc phc: n nt tt ci buzzer stop v kim tra
li ngun cp
4. Bo ng qu ti ng c bm bng n v ci. Khc phc: n nt tt ci buzzer stop
v kim tra li my li.
5. Bo ng mc kt du thy lc thp bng n v ci. Khc phc: n nt tt ci buzzer
stop v kim tra li du trong kt du thy lc.
6. C tn hiu b li nhng van in t khng tc ng sau 3s th s c bo ng trn mn
hnh v ci ku. Khc phc: n nt tt ci buzzer stop v kim tra li ngun cp cho van in
t xem c in p khng? Cu ch c chy khng?...
7. Li thng xuyn chuyn i hot ng gia bm chnh v d phng. Khc phc: Kim
tra li tnh trng qu ti ca bm.
3.2 i li:
kim tra tnh trng alarm ca h ta n nt F1 ALARM bn cnh mn hnh hin
th ton b giao din li ca h thng v thc hin khc phc theo -bng cc thng bo
li-
8. Khng nhn ch li t ng. Khc phc: Kim tra li s hot ng ca la bn hoc
ng dy tn hiu t la bn v i li.
9. Bo ng lch hng i qu ln. Khc phc: n nt tt ci buzzer stop v kim tra li
s hot ng ca cc ch li c bnh thng hay khng?
10. Bo ng lch t hng i qu ln. Khc phc: n nt tt ci buzzer stop v t li
hng i. Trong trng hp cn thay i hng i chng ta c th thc hin bng cch gin
tip thng qua cc ch li n gin hoc li lp.
11. Mt ngun h thng iu khin li t ng. Khc phc: Kim tra li cu ch hoc n
ngun trn b ngun xung bn trong i li.
12. Ch th gc b bnh li (phn hi gc b li) sai lch so vi h ch th gc b li bn
ngoi. Nguyn nhn ca hin tng ny l sau mt thi gian hot ng th dn n nng
TECHNICAL DOCUMENT
no lin kt c kh ca cn trung gian vi thit b cm bin phn hi v tr li. Do ,

phi thng xuyn kim tra mi lin kt c kh ny v phi kp thi chnh nh li cho
chnh xc vi h thng ch bo c lp bn ngoi. Chnh nh chnh xc trong trng
hp ny bng cc tho cc ecu u cn trung gian v chnh nh bu lng thay i
chiu di ca cn, sau khi chnh chiu di ph hp v m bo ch th chnh xc th xit
cht ecu li.
TECHNICAL DOCUMENT
4. QUICK HELP HNG DN NHANH

4.1 Khi ng h thng:
- bt u cho h thng li hot ng: Bt cc Abtomat cp ngun ti cc t in my li
bung my li. C th thc hin khi ng my li ti ch (bung my li) hoc t xa (bung
cabin li). C th thc hin li ti ch hoc t xa thng qua cng tc REMOTE/LOCAL.
thc hin li trn bung li th chuyn cng tc v v tr REMOTE.
Trn bung cabin li:
- Chuyn cng tc SYS v v tr h 1 SYS1 hoc h 2 SYS2 n bo ngun sng.
- Khi ng my li bng cch n nt start my li 1 hoc 2, nu my li c khi ng
thnh cng th n run tng ng s sng ng thi c thng ip SG run trn mn hnh.
- Chuyn cng tc Mode v ch li cn chn l li n gin (s c) NFU, li lp Hand
v li t ng Auto, mi ch u c thng dip ch th trn mn hnh.
- Thc hin li vi ch li tng ng. Li n gin s dng cng tc NFU mode, li lp s
dng v lng v li t ng bng cch t hng trn mn hnh.
4.2 Chuyn cc ch li:
- chuyn sang ch li lp s dng v lng ta bt cng tc Mode sang v tr Hand.
Nhng trc khi chuyn cng tc nn s dng ch li NFU a bnh li v v tr
0 v quay v lng v v tr 0
- chuyn sang ch li t ng bng la bn ta bt cng tc Mode sang v tr Auto.
Nhng trc khi chuyn cng tc nn s dng ch li Hand hoc NFU a
hng i ca tu v trng vi hng i cn t ng thi a bnh li v v tr 0 .
4.3 Ch li t ng:
- t hng trong ch li t ng ta n vo hp text bn di dng ch Course set
hoc t hng trong cc mn hnh chnh. Sau nhp hng i trong gii hn t 0.0 n
359.9 v n nt enter trn bn phm o ri tip tc n nt ENT trn mn hnh chnh. Nu
t hng qu lch vi hng i tht s c bo li. Nu khng c li s xut hin gi tr t
hng i hin ti (current set) hp text bn di.
- Ngoi ra, cn c th tng/gim gi tr hng i bng nt n (tng) hoc nt n (gim); mi
bc dch l 0,1 ; nu n lin tc th mi bc dch tng ln 1 . Sau khi t n gi tr
mong mun ta n nt ENT bn phi hoc n nt ENT trn mn hnh chnh. Nu t hng
qu lch vi hng i tht s c bo li. Nu khng c li s xut hin gi tr t hng i hin
ti (current set) hp text bn di.
Trong qu trnh hnh trnh:
TECHNICAL DOCUMENT
Ch nn ci t cc thng s trong bng di y trong mn hnh auto parameter trong mc

ci t setup ca mn hnh chnh:
DUAL RUDDER-KP(%) - Thng s ny c hai ci t, bao gm ci t h s khuch i nh
cho trng hp lch hng i nh; ci t h s khuch i ln
cho trng hp lch hng i ln. im ngng thay i gia hai h
s khuch i ny c ci t trong th hai ca thng s WEATHER
ADJ 2 LAYER (DEG)
- Nu gi tr ny cng ln th khi cng mt gi tr lch hng i nhng
gi tr gc b li ln v ngc li. Do vy cn gi thng s ny l h s
khuch i vi ngha n cng ln th b li cng nhanh.
- Trong trng hp tu b dao ng hng i ln quanh hng i t
(tn s nh) th cn TNG thng s ny.
TNG
- Nu bnh li dao ng b li lin tc t PORT qua STBD v ngc li

th cn GIM thng s ny.
GIM
- Nu tnh trng mt bin xu (sng to gi ln) hoc tu hnh trnh vi

tc rt thp cn TNG thng s ny.
- Nu Tnh trng mt bin tt hoc tu chy ton tc cn GIM thng s
ny.
COUNTER-KD(%) Trong trng hp tu b qu chnh hng i quanh hng i t ln th
ta cng c th iu chnh TNG thng s ny.
INTERG-KI(%) Thng s ny lm tng chnh xc ca hng i. Tuy nhin, trong
nhiu trng hp nn t n bng 50
WEATHER ADJ 2 - Thng s ny c hai ci t, bao gm ci t vng khng tc ng
LAYER (DEG) b li khi dao ng hng i nh hn gi tr ny; v ci t im
ngng thay i h s khch i DUAL RUDDER-KP(%)
- Thng s ny c ci t ty thuc vo tnh trng thi tit mt bin,
nu thi tit xu nn tng ln v ngc li thi tit p th h xung. Hn
ch ci t thng s ny!
YAW LIMIT OUT & KI=0 Gii hn gc b li v gii hn gc tch ly sai s trong li t ng vi
(DEG) h s tch phn v zero
TECHNICAL DOCUMENT
- Khi iu kin mt bin xu (sng to gi ln) cn iu chnh TNG thng
s ny trnh tn sut lm vic lin tc khng cn thit ca bnh li.
*) Hai thng s c bi xanh trong bng trn l hai thng s ci t nhanh

trong qu trnh hnh trnh trn bin ca tu. Hai thng s ny c th ci t
bng cch n nt QUICK trong mn hnh 1
Note/Lu : Gi tr t ca cc bn tri lun nh hn cc bn phi!

4.4 Dng h thng:
- Chuyn cng tc Mode v v tr OFF
- Dng ng c my li bng cch n nt stop trn panel bn phi v khi ng c dng th
quan st thy n run tt
- Chuyn cng tc SYS v v tr OFF
- Lu :
* Trong cc mn hnh ci t cc la chn c mu sm hn khng nn ci
t trong qu trnh vn hnh!
* Nu v tnh tin hnh cc ci t m gy li cho h thng ta cn ci t li
theo cc tham s trong: Bng cc tham s ci t mc nh - factory set
default
* n vo du X (nu c) trong cc ca s mn hnh ng li.
* n vo nt RUN tr v mn hnh lm vic bnh thng nu xut hin
mn hnh ci t cho mn hnh giao din.
TECHNICAL DOCUMENT
5. CONTENTS NI DUNG
5.1 Autopilot stand
LTD1.00 l h thng li phin bn mi. B iu
khin trn nn tng b vi x l mnh ng gi trong
module ccng nghip. Thc hin v x l lnh
nhanh, lm vic bn vng, bn trong b iu khin
c tch hp sn b iu chnh PID Adaptive 16 v
32bit
LTD1.00 c 3 ch li m c chuyn i
thng qua cng tc mode, cc ch bao gm:
- Li n gin v tr NFU s dng cng tc NFU
mode li sang phi b sang v tr STABD, li
sang tri b sang v tr PORT.
- Li lp Hand s dng v lng li
- Li t ng auto bng cch t hng i trong
mn hnh li.
giao din vi con ngi h thng li LTD1.00 s

dng mn hnh cng ngh mi touch screen 5,7 inch
vi 65536 mu. Do tnh nng ni bt ca loi HMI
ny l d dng vo/ra d liu v vy n to iu kin
rt thun li cho s quan hng hi vn hnh h
thng trn bin cng nh k s ci t ban u cho
h thng.
TECHNICAL DOCUMENT
Cc bo ng ca hai my li bng ch th LED c
tch hp ngay trn i li rt tin li cho ngi vn
hnh. Cho php chnh nh dimmer trong ban m
bng cc s dng chit p trn panel.
- th n n nt test.
- tt ci khi c bo ng n nt BZ STOP
Khi ng v dng cc my li cng c th thc

hin ngay ti i li, cho php gim st hot ng
ca motor/pump thy lc ca my li. Ngoi ra, cn
gim st c trng thi ng/m ca cc van in
t tri (PORT, ) hoc phi (STBD, )
- n nt Start khi ng bm v tr No1 hoc
No2 tng ng, nu my li khi ng thnh cng
th n run s sng.
- n nt Stop dng my li.
- panel ny cng c th thay i hng i t cho
li t ng.
Lu : Khi cn dng khn cp,

khng cho bnh li quay ta c th
n nt Stop
Bn cnh cc u im trn y LTD1.00 cn c mt

li th c bit l v lng li lp ch cn truyn ng
vi lc nh m chnh xc vn cao do s dng
cng ngh quang hc trong o gc khc phc
c nhc im s dng chit p c ma st hin
nay.
Ngoi ra, quay v lng vi lc nh hn ta ch cn
n v lng xung v quay.
TECHNICAL DOCUMENT
Ch li NFU li khng truy theo (li n gin)
bng cng tc hon nguyn rt d vn hnh trong
ch iu ng.
C th chn ngun cp cho h thng li t ng

bng cng tc chn SYS1 ngun t bng in
chnh MSB hoc SYS2 - ngun t bng in s c
ESB.
5.2 Steering gear v rudder feedback
C th chy c lp hoc song song hai my li tng tc b li. Hp khi ng my li gn nh thc hin
y cc chc nng iu khin v bo ng sau y:
- D phng ngun back up
- Khi ng v dng bm ti ch v t xa.
- Khi ng t ng khi c ngun in tr li
- Ch bo trng thi ca bm: run, stop
- T ng chuyn sang ch d phng sn sng stand by
- c cung cp ngun t 2 v tr l bng in chnh v bng in s c.
- Cp ngun cho i li, h ch bo v cho van in t
- V c y cc bo ng:
+ Mt ngun
TECHNICAL DOCUMENT
+ Mt pha
+ Qu ti
+ Mc du thy lc trong kt thp.
5.3 Lp t
S lp t ca h thng ti phn ph lc
5.4 Monitoring and Setup
Cc ci t cho h thng trn mn hnh cm ng c s dng trong hai trng hp:
- Ci t ban u
- Ci t khi vn hnh (hay c hiu l chnh nh h thng khi vn hnh)
1- Mn hnh 1
y l mn hnh mc nh, mn hnh chnh ca
h thng, cu trc ca n bao gm:
- Ch bo ngy gi
- Ch bo hng i thc ca tu ly t la
bn: HEADING COURSE
- Ch bo gc b li
- Ch bo gc t ca v lng
- Ch bo trng thi ca van PORT, STBD
- Ch bo ch li: Auto, hand, NFU.
- Ch bo trng thi chy ca ng c my
li: SG run
- Ch bo gc b bnh li trong ch li
t ng.
- Ci t chnh nh dimmer
- Ci t tham s v cu hnh: SETUP
- Ci t hng i: COURSE SET
- Hng t hin ti: CURRENT SET
- Khi c bo ng th xut hin nt
ALARM, n vo nt ny v mn hnh
danh sch bo ng - Mn hnh 9
2- Mn hnh 2
y l mn hnh chnh nhng c s dng vo
ban m, n cng cho bit cc thng tin ging
nh mn hnh 1
chuyn qua li gia mn hnh ny v mn
hnh 1 ta s dng phm F2 NIGHT mn
hnh 14
TECHNICAL DOCUMENT
3- Mn hnh 3
y l mn hnh chnh trong ch ting Vit, n
cng cho bit cc thng tin ging nh mn hnh
1. chuyn qua li gia mn hnh ny v mn
hnh 1 ta s dng phm F3 VIETNAM mn
hnh 14
Vic chuyn i qua li gia 3 mn hnh chnh
trn y c thc hin bi cc phm F2
NIGHT, F3 VIETNAM mn hnh 14.
iu chnh sng ca mn hnh ta n nt

/C sng trong cc mn hnh chnh hoc n nt
F4 DIMMER.
4- Mn hnh 4
y l mn hnh ci t h thng, mn hnh ny
c cu trc sau y:
- Cho php ci t tham s ca li t
ng: AUTO PARAMETER
- Cho php ci t tham s ngy gi h
thng: DATE/TIME
- Cho php ci t tham s li lp:
RUDDER
- Cho php ci t tham s ca la bn
in: GYRO
- Cho php gim st cc thng s chnh:
VIEW
- Cho php cc ci t khc: OTHERS
- Cho php tm hiu n v, c nhn
support h thng: SUPPORT
- Cc ch dn ci t
Vic chuyn qua mn hnh ny t mn hnh
chnh bng cch n nt setup
TECHNICAL DOCUMENT
n nt exit s tr v mn hnh chnh s 1
Note: Cc ci t c mu xm hn trong mn
hnh ny tuyt i khng c ci t li sau khi
h thng li c lp t hon chnh.
5- Mn hnh 5
y l mn hnh ci t cc tham s cho li t
ng, n c chn bng cch n nt Auto
parameter mn hnh s 4. N c cu trc sau
y:
- Chnh h s khuch i kp b iu
chnh PID: DUAL RUDDER-KP
- Chnh h s vi phn b PID: COUNTER-
KD
- Chnh h s tch phn b PID: INTERG-
KI
- Chnh h s thi tit 2 lp: WEATHER
ADJ 2 LAYERS
- Chnh gii hn gc tch sai s: YAW
LIMIT (OUT & KI = 0)
- Chnh bo ng gii hn gc b li:
RUDDER LIMIT ALARM
- Chnh gc li: RUDDER HOLD
- Chnh bo ng lch hng i qu ln:
PILOT WATCH
- Chnh t lch hng i qu ln (khi
t hng): COURSE ALARM SET
chuyn v mn hnh s 4 bng cch n nt
back
6- Mn hnh 6
y l mn hnh ci t cc tham s cho li lp,
n c chn bng cch n nt Rudder mn
hnh s 4. N c cu trc sau y:
- Chnh nh vng dead band sai lch gc
b li
- Chnh h s khuch i, thi gian ct
mu v thi gian lc i vi phn hi gc
b li dng tng t
- Ci t h s Kd phn hi b li: KD
beta
- Chnh nh vng diff ca sai lch gc b
li (khng nhiu)
TECHNICAL DOCUMENT
- Chn im 0 zero ca bnh li l v tr
hin ti: ZERO POINT (thng s ny
khng c ci t sau khi lp t h
thng li)
- Chn knh phn hi gc b li dng
analog.
- Chn chiu quay ca bnh li: DIRECT
(thng s ny khng c ci t sau khi
lp t h thng li)
back
7- Mn hnh 7
y l mn hnh ci t cc tham s cho la bn
in, n c chn bng cch n nt Gyro
mn hnh s 4.
Lu : l vic ci t trong mn hnh ny ch
c thc hin mt ln u khi lp t h
thng vi la bn in c u ra chun s
NMEA0183 chun vt l RS422 hoc RS485.
ci t li thi gian ca h thng ta n nt

Date/time mn hnh s 4.
chuyn v mn hnh s 4 bng cch n nt back
8- Mn hnh 8
y l mn hnh cho php gim st d liu gc
ca cc tham s c bn, n c chn bng
cch n nt View mn hnh s 4. Cc tham s
c bn bao gm:
- Tham s hng i t
- Tham s hng i ly t la bn
- Tham s gc b ca v lng
- Tham s phn hi gc b li
- Tham s tc b bnh li: RATE OF
RUD
- Ch bo trng thi ch d liu t la bn
- Nt chuyn quan st qu o hng i,
- Nt chuyn quan st la bn lp kiu hnh
trn.
TECHNICAL DOCUMENT
- Nt SG STATUS chuyn qua mn hnh
quan st trng thi my li - Mn hnh 18
back
9- Mn hnh 9
y l mn hnh ch ra cc bo ng ang tn ti
ca h thng. C th n nt F1 ALARM
mn hnh 14 xem hoc tt mn hnh ny.
10- Mn hnh 10
y l mn hnh cho php ngi s dng c th
lin h vi cc cn b k thut c t vn v
h thng. N c chn bng cch n nt
Support mn hnh s 4. Mn hnh ny bao
gm cc thng tin:
- in thoi h tr k thut trc tuyn,
- Logo Cng ty sn xut thit b,
- Website Cng ty sn xut thit b,
- Thng tin bn quyn.
back
11- Mn hnh 11
y l mn hnh ci t cc tham s khc, n
c chn bng cch n nt Other mn hnh
s 4. N bao gm cc ci t:
- Chu k qut tn hiu t la bn,
- Kiu v nh dng d liu ti Radar,
VDR
- Ci t li theo qu o, ly tn hiu t
GPS.
- Ci t lng t sai lch b li cho iu
khin PWM van in t
TECHNICAL DOCUMENT
- Chn im zero ca v lng li lp
back
12- Mn hnh 12
y l mn hnh quan st qu o hng i ca
tu trong 24 gi, n c chn bng cch n nt
Heading track record mn hnh s 8
back
13- Mn hnh 13
y l mn hnh la bn lp kiu hnh trn v ci
t nhanh hng i cho tu, n c chn bng
cch n nt Repeater Gyro mn hnh s 8.
Trong ch hnh trnh trn bin c th mn
hnh ny quan st v c lng hng i
nhanh chng. N bao gm cc quan st v ci
t:
- Quan st hng i,
- Quan st tc quay tr ca tu: RATE
OF TURN
- Ci t hng i.
back
14- Mn hnh 14
y l mn hnh cc tham s cho ch li t
ng, n c chn bng cch n nt Quick
mn hnh s 1.
Trong ch hnh trnh trn bin c th s dng
mn hnh ny ci t nhanh chng. N bao
gm cc quan st v ci t:
- Ci t chnh nh thi tit 2 lp,
WEATHER ADJ 2 LAYERS (Deg)
- Ci t h s khuch i kp cho di sai
lch hng i nh v ln, DUAL
RUDDER-KP (%)
TECHNICAL DOCUMENT
- n nt DETAIL: SETUP AUTO MODE
s tr v mn hnh 5
Ngoi ra, bn phi mn hnh ny cn c 04 nt
F1 ALARM, F2 NIGHT, F3 VIETNAM v
F4 DIMMER chn cc chc nng ph khc.
15- Mn hnh 15
y l mn hnh ci t li ngy gi v thi gian
cho h thng, n c chn bng cch n nt
DATE/TIME mn hnh s 4.
Sau khi ci t lu d liu n nt Save
Quit hoc nt X
16- Mn hnh 16
y l mn hnh chnh nh sng cho mn
hnh vn hnh, n c chn bng cch n nt
DIMMER mn hnh s 1 hoc n nt F4
mn hnh 14.
chuyn v mn hnh s 1 hoc 11 bng cch
n nt X
17- Mn hnh 17
y l mn hnh nhn d liu khi ci t tham s:
Numeric keyPad.
chuyn xa d liu n nt clr lu d liu
n nt Enter ng mn hnh bng cch n
nt X
18- Mn hnh 18
y l mn hnh nhn password
chuyn xa d liu n nt clr, sau khi nhp
password xc nhn d liu n nt Enter
ng mn hnh bng cch n nt X
Lu : Nhng mc yu cu phi c password
mi vo c th khng cn thit phi thay
TECHNICAL DOCUMENT
i i vi ngi vn hnh!
iu chnh sng ca mn hnh ta n nt
dimmer mn hnh chnh hoc n nt F4
mn hnh 14
19- Mn hnh 19
y l mn hnh quan st trng thi ca my li,
c th bit c tnh trng bm thy lc
dng/chy v cc tnh trng bo ng: mt
ngun, mt pha, qu ti, mc kt du thy lc
thp cho 02 h my li.
- n nt BZ STOP s tt ci khi c bo
ng.
back
20- Mn hnh 20
y l mn hnh quan st v ci t trong trng
hp li kp (li ng b hai bnh li)
back
- n nt SG STATUS chuyn v mn
hnh 19.
- n nt exit s tr v mn hnh chnh s
1
TECHNICAL DOCUMENT
6. BNG CC THAM S CI T MC NH
FACTORY SET (DEFAULT)
STT Thng s Din gii Gi tr n v Ghi ch
() (Symbol) (Discription) (Value) (ST) (Note)
1 DUAL RUDDER-KP(%) H s khuch i kp li t ng 150/250 %
KP2
KP1
WA1 WA2
2 COUNTER-KD(%) H s vi phn li t ng 70 %
3 INTERG-KI(%) H s tch phn li t ng 50 %
4 YAW LIMIT OUT & KI=0 Gii hn gc tch sai s trong li t 15/5
(DEG) ng vi h s tch phn v zero
5 RUDDER LIMIT ALARM Ci t bo ng gii hn gc b 20
(DEG) li (ln) trong li t ng
6 WEATHER ADJ 2 LAYER iu chnh thi tit; thi tit xu t 0,3/3,0
(DEG) cao, thi tit tt t thp
7 RUDDER HOLD (DEG) Gc li, rt hn ch ci t khc 0
zero ch c s dng trong trng
hp li (tu b dt do gi, hi lu
lm lch im n)
B
B
A li tri
8 COURSE ALARM SET (DEG) Ci t gii hn bo ng gc lch 6

gia hng i t so vi hng i
thc qu ln ngay sau khi nhp
hng i.
9 PILOT WATCH (DEG) Bo ng gc lch gia hng i 6
t so vi hng i thc qu ln
trong qu trnh hnh trnh.
10 RUDDER DEADBAND (DEG) rng vng khng nhy ca gc 0,6
b bnh li
11 RUDDER FDB GAIN H s khuch i gi tr phn hi 51
gc b li
TECHNICAL DOCUMENT
12 HYTERIS (DEG) rng vng khng nhiu li lp 0,3
13 FILTER TIME (MS) Thi gian lc phn hi gc b li 10 MS
dng tng t
14 SELECT ANALOG RUDDER La chn phn hi gc b li dng OFF,
FDB tng t hoc dng quang CH2
15 DIRECT o hng quay ca phn hi gc FWR
b li dng quang
16 ZERO POINT Chn im 0 zero ca bnh li l
v tr hin ti
17 DATA LENGTH di bit trong mi byte d liu t 8 BIT Trong b
la bn converter
18 PARITY BITS Kim tra li chn l trong mi byte None Trong b
d liu t la bn converter
19 STOP BITS S bit stop trong mi byte d liu 1 Trong b
t la bn converter
20 BAUD RATE Tc truyn ca d liu t la bn 4800 BIT/S Trong b
converter
21 TIMEOUT MS Pht hin li thi gian gia cc 25 MS Trong b
byte converter
22 DATA LENGTH S byte d liu trong mi khung 12 BYTE Trong b
truyn t la bn converter
23 RECEIVE CYCLE FROM Chu k nhn d liu t la bn 200 MS Trong b
GYRO COMPASS converter
24 RUD DEVIATION QUANTUM Lng t sai lch b li cho iu 0,3
FOR PWM RELAY khin PWM van in t
25 ZERO POINT OF ORDER Chn im 0 zero ca v lng l
v tr hin ti
26 SAMPLE TIME Chn thi gian trch mu b PID 5 10ms
27 OUT Khng s dng
28 KD - beta H s vi phn phn hi gc b li -50 %
TECHNICAL DOCUMENT
7. BNG CC THNG BO LI
ALL OF ALARM LIST
STT Thng s li Din gii Ghi ch
() (Symbol) (Discription) (Note)
1 LARGER DEVIATION Bo ng gc lch gia hng i t so Kim tra li la bn v ng tn
(Trong ch li t vi hng i thc qu ln ngay sau khi hiu t la bn n li t ng
ng) ci t. Ci t tham s ny trong Thi tit xu, t li cc thng s
PILOT WATCH (DEG) ci t: RUDDER-KP(%);
COUNTER-KD(%)
2 STEERING GEAR FAIL Bo ng li my li: Mt ngun, mt Kim tra cc li ca my li thng
pha, qu ti, mc du thp. qua cc n trn panel STEERING
GEAR ALARM PANEL
3 OVER SETTING Bo ng gc lch gia hng i t so Kim tra cc li ca my li thng
COURSE vi hng i thc qu ln trong qu qua cc n trn panel STEERING
(Trong ch li t trnh hnh trnh. Ci t tham s ny GEAR ALARM PANEL
ng) trong COURSE ALARM SET (DEG)
4 OVER STBD RUDDER Bo ng gc b bnh li sang phi Chuyn sang li lp. Quay v lng
LIMIT qu ln vt gii hn gc b li. Ci t ngc tr li v pha li tri.
(Trong ch li t tham s ny trong RUDDER LIMIT
ng) ALARM (DEG)
5 OVER PORT RUDDER Bo ng gc b bnh li sang tri qu Chuyn sang li lp. Quay v lng
LIMIT ln vt gii hn gc b li. Ci t ngc tr li v pha li phi.
(Trong ch li t tham s ny trong RUDDER LIMIT
ng) ALARM (DEG)
6 NO SIGNAL FROM Bo ng khng c tn hiu t la bn Kim tra li la bn v ng tn
GYRO hiu t la bn n li t ng
Kim tra li cc ci t la bn trong
mc ci t: GYRO
Nu hng l: 4444 cho thy li
ca b chuyn i (converter
CAN1.00). Nu hng l: 8888
cho thy li tn hiu t la bn vo
b chuyn i.
7 STBD SOL NO ACTIVE Bo ng van b li phi khng c Kim tra li van in t b li phi
cp in v r le phn hi K5
8 PORT SOL NO ACTIVE Bo ng van b li tri khng c Kim tra li van in t b li tri v
cp in r le phn hi K6
quan st cc li ang tn ti n F1 hoc n vo nt ALARM khi n xut hin
Bo tr nh k (5 nm): Trc mi khi vn hnh h thng th ngoi vic kim tra cc cng vic cn
thit lin quan cho khai thc th thuyn vin cn m mt i li quan st n LED: BAT.LOW trn module
TECHNICAL DOCUMENT
iu khin CPU. Nu n LED ny sng th cn bo ngay cho nhn vin k thut xung kim tra v thay
PIN cho h thng!
TECHNICAL DOCUMENT
8. RUDDER ANGLE TRANSMITTER INSTALLATION

LP T PHN HI GC B LI
Thng s lp t phn hi b li
- CBL1.00 S i vi phn cm bin. Ngoi ra, cn c 01 cn trung gian c khp bn l (c chiu di t 600-
750) truyn ng gia tr li v cn ca hp cm bin.
B Cn trung gian
Tr li
B
Hp cm bin
- Vic lp t hp cm bin phi m bo ng cc kch thc A v B nh trn hnh v lun lun to ra mt
0
hnh bnh hnh hoc hnh ch nht ( gc b bnh li 0 nn c dng l hnh ch nht), hnh bao gm 4
cnh l cn trung gian, cn hp cm bin, khong cch t tm tr li ti tm quay ca cn hp cm bin v
cnh cn li l khong cch t tm tr li ti u mt ca cn trung gian. Kch thc ca cn trung gian c th
chnh nh c mt cch d dng t 600 n 750mm, kch thc ca cn hp cm bin c 3 nc khc nhau.
V tr ca hp cm bin c th t bt c ch no quang tr li, v tr ca cn hp cm bin c th xoay bt
c hng no quang tm quay ca n.
* Qa trnh chnh nh c thc hin nh sau:
1. iu chnh sao cho gc b bnh li tht (gc c) v tr 0 , sau n nt ZERO POINT Mn hnh 6
nhn im zero ca cm bin, kim tra xem ng h ch bo 0 cha? Nu cha th phi tin hnh
chnh nh ng h
2. iu chnh gc sao cho gc b bnh li tht (gc c) v tr 35 phi (hoc tri).
3. Nu gc ch bo ca ng h ln hn gc tht ca bnh li (35 ) th phi chnh tng chiu di ca cn
trung gian (ngc li nu nh hn) cho n khi ch bo ca ng h t 35 th dng li.
4. Lp li cc bc 1, 2, 3 cho n khi t chnh xc th dng li.
TECHNICAL DOCUMENT
9. DRAWING BN V
9.1 Bn v ca i li t ng
9.2 Bn v ca t khi ng my li
TECHNICAL DOCUMENT
10. CERTIFICATIONS CHNG CH

10.1 Certificate of quanlity (Giakhanh Co)
10.2 VR certificate of auto pilot programmable
10.3 CPU certificate
10.4 Touch certificate
10.5 Rudder feedback certificate
10.6 Rudder indicator certificate
10.7 Power supply certificate
10.8 Cam switch certificate

Auto Pilot Doc v3 20-4-11

Diunggah oleh

Informasi Dokumen

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

Auto Pilot Doc v3 20-4-11

Diunggah oleh

Hak Cipta:

Format Tersedia

TECHNICAL DOCUMENT

AUTOPILOT model: LTD1.00; LTD2.00

CNG TY TNHH T NG HA GIA KHNH

1 Gii thiu - introduction 3

Chng nhn chng trnh phn mm

1.1 Autopilot system - H thng li t ng

Model: LTD1.00; LTD2.00

- Nhit : -20...65C (lc vn hnh).

no lin kt c kh ca cn trung gian vi thit b cm bin phn hi v tr li. Do ,

4. QUICK HELP HNG DN NHANH

Ch nn ci t cc thng s trong bng di y trong mn hnh auto parameter trong mc

- Nu bnh li dao ng b li lin tc t PORT qua STBD v ngc li

- Nu tnh trng mt bin xu (sng to gi ln) hoc tu hnh trnh vi

*) Hai thng s c bi xanh trong bng trn l hai thng s ci t nhanh

Note/Lu : Gi tr t ca cc bn tri lun nh hn cc bn phi!

giao din vi con ngi h thng li LTD1.00 s

Khi ng v dng cc my li cng c th thc

Lu : Khi cn dng khn cp,

Bn cnh cc u im trn y LTD1.00 cn c mt

C th chn ngun cp cho h thng li t ng

5.2 Steering gear v rudder feedback

iu chnh sng ca mn hnh ta n nt

ci t li thi gian ca h thng ta n nt

8 COURSE ALARM SET (DEG) Ci t gii hn bo ng gc lch 6

8. RUDDER ANGLE TRANSMITTER INSTALLATION

10. CERTIFICATIONS CHNG CH

Anda mungkin juga menyukai