Raytheon Nautopilot 2035 Autopilot NP 2035 Operating instructions

Category
Navigational compasses
Type
Operating instructions

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Raytheon Anschütz GmbH
Postfach 1166
D -- 24100 Kiel
Germany
Tel+49--431--3019--0
Fax+49--431--3019--501
www.raytheon --anschuetz.de
3578E/102--886/885.DOC012 Edition: Apr 15, 2002
Revised: 22. January 2003
Revised: Aug. 8th, 2003
Revised: July 20, 2004
Revised: April 16, 2007
Revised: Oct. 15, 2007
Revised: March 16, 2011
AUTOPILOT
NP2035
Type 102--886 NG002
OPERATOR MANUAL
Nautoguide C - track control (Autopilot with ECDIS) appended
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Autopilot NP2035
Autopilot
Operator Manual
Edition: Apr 15, 2002
3578E/102--886/885.DOC012
Notes:
1) In the operator manual the term ECDIS is always used for ECDIS or ECS,
even if it concerns an ECS.
2) At present a rearrangement of the terms “Course Control” and “Set Course” is taking
place internationally.
-- “Course Control” changes to “Heading Control” and
-- “Set Course” changes to “Preset Heading”.
During the transitional period it can occur that the hardware is delivered with the old
labeling. In the operator manual in hand both terms will be used for a time.
Autopilot NP2035
Operator Manual
Edition: Apr 15, 2002
3578E/102--886/885.DOC012
Autopilot operation at high speeds
HSC
NP2035
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Edition: Apr 15, 2002
3578E/102--886/885.DOC012
1. Sensor failures
No.
Action Effect Operator Note Reaction time
1 Failure of
the log
A failure of the log is sensed and announced optically and acousti-
cally on the control unit as Spd Ref. Missing. The last valid speed
value is frozen and is used from then on as a valid speed for set-
ting the regulator.
Valid for speeds > 5 knots.
Switch over the log to manual speed input. The reaction time --
switching over to
manual input -- is not
critical as long as the
speed is to be main-
tained.
2 Error in the
heading ref-
erence
A heading reference failure is sensed and announced optically
and acoustically on the control unit as Gyro Ref. Missing
.
The last valid actual course is frozen and is used from then on as
the heading reference. The set course should be the same as the
actual course in order to prevent any rudder reaction. It is no lon-
ger possible to set a course on the control unit.
a) Reduce the speed to values < 20 knots.
Switch over to the magnetic compass or to
the second gyrocompass, if one is
available.
Optimize the control parameters during
magnetic compass operation if stable
regulation is not available.
b) Switch over to manual control and use a
second heading reference that is not
subject to errors.
If it is necessary to
make a maneuver, it
is necessary to
switch over immedi-
ately to manual
control.
Autopilot operation at high speeds
HSC
NP2035
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2. Autopilot errors
No.
Action Effects Operator Note Reaction time
1 System er-
ror / Power
down
The autopilot can no longer be used in the case of a system error.
The effects cannot be described accurately in each case. The aim
is to bring the rudder position into the centre position. A system
error is announced optically and acoustically on the signal unit.
Switch over to manual control. Reduce the
speed so as to be able to better control any
possible rudder equalization operations.
The reaction time --
switching over to
manual control -- is
critical. It is neces-
sary to switch over at
once.
2 Error in the
control unit
A control unit error in the form of an electronics failure has no ef-
fect on the current controller behavior. The operator notices that
the control unit can no longer be used because nothing is shown
on the display or else sees the No Connection
or No Telegram
message.
Switch over to manual control, since it is not
possible to make any more heading settings
and there is no further control over the auto-
pilot (warnings, alarms, parameter settings).
The reaction time --
switching over to
manual control -- is
not critical
3. Hazard when accelerating or changing course and in heavy seas
No.
Action Effects Operator Note Reaction time
1 Accelera--
tion of the
ship
Automatic adaptation of the controller to the speed is especially
important during acceleration. A missing log (e.g. errors) can
cause controller instability and unpleasantly larger rudder angles.
If it is not possible to ensure a log function,
theshipmustbeacceleratedslowlytothe
desired speed and the speed input made
manually. Rudder limiting should be set to
the maximum permissible value.
Switch over immedi-
ately to manual con-
trol in the event of
controller instability.
Autopilot operation at high speeds
HSC
NP2035
HSC -- 3
Edition: Apr 15, 2002
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No. Action Effect Operator Note Reaction time
2 Change of
heading
Changes of heading are to be done such that any unacceptably
high centrifugal acceleration is avoided (< 0.05g). This reduces
the risk of accidents to the passengers and any shifting of loads.
Computed relationship: a = d*v
a = acceleration (centrifugal acceleration)
b = turning speed when changing heading
v = travelling speed
You can see that the turning speed and the travelling speed have
a proportional effect on the acceleration. The turning speed must
be selected in relation to a desired maximum speed such that the
acceleration rates described above are not exceeded.
Turning speed limiting can be set at the autopilot.
Determine the maximum permissible turning
speeds for various travelling speeds (de-
pending on the passengers and the load).
Determine the maximum amount of rudder
limiting.
It is necessary to re-
duce the travelling
speed at once if
there is excessive
centrifugal accelera-
tion.
3 Sea a) The speed of the ship must be matched to the current sea
conditions.
This determination must be made in connection with the
ship safety regulations.
(Wave height and maximum permissible speed)
b) The effects of heavy seas can also cause undesirably high
rudder amplitudes with the autopilot.
Increase the yawing setting until a compro-
mise is reached between rudder action and
heading accuracy for a travelling speed that
is still permissible.
In the case of imper-
missibly large rudder
movements it is nec-
essary to reduce the
travelling speed for
safety reasons. Then
check the yawing
setting.
Autopilot operation at high speeds
HSC
NP2035
HSC -- 4
Edition: Apr 15, 2002
3578E/102--886/885.DOC012
Autopilot NP2035
Autopilot
Operator Manual
I
3578E/102--886/885.DOC012
Edition: March 16, 2011
CONTENTS Page
1 General 1..............................................................
2 Operating Instructions 2................................................
2.1 General 2...............................................................
2.1.1 Heading Control Operation 3..............................................
2.1.2 Parameter Yawing, Rudder and Cnt. Rudder 4...............................
2.1.3 Heading preadjustment more than 180 5..................................
2.2 Explanation of Used Symbols 6............................................
2.3 NP2035 -- PASSIVE -- (Steering Mode Selector in Position HAND) 7............
2.4 NP2035 -- ACTIVE -- (Steering Mode Selector in Position AUTO) 8.............
2.5 Secondary Operator Units 9...............................................
2.6 Operating Mode of Course Control (Heading Control) 10.......................
2.6.1 Parameter Yawing, Rudder and Cnt. Rudder 11...............................
2.6.2 Back--Up Navigator Alarm 11...............................................
2.7 Operating Mode of Track Control 12.........................................
2.7.1 Definitions 12............................................................
2.7.2 Principle of Operation 13..................................................
2.7.3 Pre--conditions for the Activation of Track Control 13..........................
2.7.4 Starting Track Control 14..................................................
2.7.4.1 Changing over to Track Control, GO--TO--WAYPOINT Maneuver
(with FROM--WPT undefined) 16...........................................
2.7.4.2 Changing over to Track Control -- with FROM--WPT defined by the ECDIS
(GO--TO--TRACK Maneuver) 18............................................
2.7.5 Track Change Maneuver 20................................................
2.7.6 Interruption of Track Control 23.............................................
2.7.7 Changing TO--WPT and NEXT--WPT without Interrupting Track Control 23.......
2.7.8 End of Track Control 24...................................................
2.7.9 Error Considerations 25...................................................
2.7.9.1 Missing Waypoint 25......................................................
2.7.9.2 No Position 26...........................................................
2.7.9.3 No or Invalid Status from ECDIS 27.........................................
2.7.9.4 Track Control Impossible 28................................................
2.8 Operating Mode of Rate--of--Turn Control 30.................................
2.9 Operation and Operation Monitoring 31......................................
2.9.1 Automatic Synchronization of the Gyro Compass Heading 31...................
2.9.2 Manual Synchronization of Gyro Compass Heading 33........................
2.9.3 Set Course (Preset Heading) Input 34.......................................
Autopilot NP2035
Operator Manual
II
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Edition: April 15, 2002
2.9.4 Change--over between the Parameters Radius and R.o.T. for the Heading
Change Maneuver 36.....................................................
CONTENTS
Page
2.9.5 Selecting the Steering Quality (Economy/Precision or Basic) 37.................
2.9.6 Change--over between Steering Quality Economy and Precision 38.............
2.9.7 Entering/Checking the Parameters Yawing, Rudder, Counter Rudder 39.........
2.9.7.1 Steering Quality Precision -- Changing Parameters 40.........................
2.9.7.2 Steering Quality Basic -- Defining and Storing a Parameter Group 41............
2.9.7.3 Steering Quality Basic -- Calling--up and Loading Stored Parameter Groups 43...
2.9.7.4 Steering Quality Basic -- Temporary Change of Loaded Parameters 44...........
2.9.8 Screening Sensors 45.....................................................
2.9.9 Selecting the Heading Sensor (Magnet/Gyro) 46..............................
2.9.10 Change--over to Manual Speed Input and Manual Entering of Ship’s Speed 47....
2.9.11 Change--over to Speed from Log 48.........................................
2.9.12 Entering/Checking the Parameter ”Rudder Limit” 49...........................
2.9.13 Entering/Checking the Parameter ”Off Heading” 50............................
2.9.14 Entering/Checking the Parameter ”Rate of Turn” 51...........................
2.9.15 Entering/Checking the Parameter ”Radius” 52................................
2.9.16 Entering/Checking the Parameter ”Rudder Trim” (Rudder Bias) 53..............
2.9.17 Entering/Checking the Parameter ”Ship Load” 55.............................
2.9.18 Display 56...............................................................
2.9.19 Dimming 57..............................................................
2.9.20 Lamp Test 57............................................................
2.10 System Messages 58.....................................................
2.10.1 Alarms 58...............................................................
2.10.2 Acknowledgeable Warnings 62.............................................
2.10.3 Warnings 63.............................................................
2.10.4 Notes 65................................................................
Appendix: Operator Manual No. 3680 “Nautoguide C --track control
Autopilot NP2035
Autopilot
Operator Manual
III
3578E/102--886/885.DOC012
Edition: April 16, 2007
Autopilot NP2035
Operator Manual
IV
3578E/102--886/885.DOC012
Edition: April 16, 2007
Autopilot NP2035
Autopilot
Operator Manual
1
Edition: Apr 15, 2002
3578E/102--886/885.DOC012
1 General
Equipment Overview
The NP2035 is a modern adaptive autopilot system designed for all sizes of sea--going
ships.
The autopilot equipment is composed of:
-- Operator Unit, Type 102 --886
-- Control Unit, Type 102--885 NG002
-- Connection Cable
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Control Unit
(view from the top, front and top--cover
removed)
Operator Unit
Operator Manual
This operator manual contains the operating instructions as well as a survey of possible
warnings and alarms indicated on the operator unit.
Service Manual
In addition to the operator manual a service manual is available. It contains:
-- information about installation and first putting into operation
-- information about care, maintenance and repair
-- a description of the autopilot equipment
Autopilot NP2035
Operator Manual
2
Edition: Apr.15, 2002
3578E/102--886/885.DOC012
2 Operating Instructions
2.1 General
NOTE
The membrane keyboard must never be operated by a pointed
object (ball point pen, pencil etc.)!
For cleaning the membrane keyboard and the display fields, a
commercial, acid--free agent is to be used!
In case of lengthy input pauses (approx. 15s), a time--out occurs.
The current text indication disappears, the previous indication ap-
pears again.
The NP2035 has the following operating modes:
Heading control in consideration of a radius or R.o.T. limit value adjustment
Track control in conjunction with an ECDIS system
Rate--of--turn control via an R.o.T. tiller
The intended operating mode can be called up via command keys.
On selecting an operating mode, all necessary sensor data is checked for plausibility.
Luminous diodes indicate the active operating mode.
In case of disturbance, an error message in plain text appears in the alphanumeric line.
Operator inputs are possible only when the alarm has been acknowledged.
Function keys permit calling up and varying parameters, sensors and permanent in-
formation indication within the text line.
Depending on requirements, the operator can adapt the steering quality to the present
sailing area by selecting between Economy, Precision and Basic.
Annex provides a short description of the keys and displays on the NP2035 oper-
ator unit!
Autopilot NP2035
Autopilot
Operator Manual
3
Edition: Apr 15, 2002
3578E/102--886/885.DOC012
2.1.1 Heading Control Operation
The HEADING CONTROL operating mode is activated by changing the control switch to
AUTO.
The momentary heading of the ship is displayed in the heading display and in the preset
heading display.
The preset heading preadjustment is set via the rotary knob. The heading controller be-
gins with the change of heading within the range of the preset parameter values (such
as, e.g. radius-- or R.o.T. limit value) and the alarm threshold (heading failure, rudder li -
mitation).
The heading reference -- magnet compass or gyro compass -- is selected via the operat-
ing unit. Compass value deviations are recognized.
An existing preset heading / heading deviation is taken into account when
switching over. This results in a preset heading adaptation.
actual course = preset heading
HAND AUTO
-- control switch--
turn switch to AUTO
-- the operating mode
heading control is
active
-- preset heading
acknowledged
Heading
-- preset heading
positioning
(for example 140)
Heading
Heading
Fig. 1: Heading control after manual heading preadjustment
Autopilot NP2035
Operator Manual
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Edition: Apr.15, 2002
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2.1.2 Parameter Yawing, Rudder and Cnt. Rudder
Parameter Setting in Basic function -- Adaptivity is switched off
Y
awing
The yawing setting determines rudder activity and course accuracy for the autopilot‘s
control properties.
The optimum setting is obtained by means of observation.
Yawing = 1 signifies control with greatest amount of activity (maximum
accuracy level).
Yawing = 6 signifies control with the lowest amount of activity (minimum
accuracy level).
If the setting is not optimised the steering gear can become over--stressed. Large rudder
angles cause loss of saeway.
Rudder
Each course deviation needs to be corrected by means of a rudder size typical to
the
ship.
The rudder setting determines the ratio of rudder angle to course error.
Rudder too big:
-- Unstable behavior => over--reacts to a course correction
=> Overshoots when course is changed
Rudder too small:
-- Course control too inaccurate
=> preconfigured rotation speed not reached during course
change manoeuvre
Cnt.
Rudder
Based on its bulk and load, each ship has a time constant typical to the ship, which
needs to be kept in control during course change manoeuvres.
Before the new set course is reached to the turning speed needs to be reduced in good
time (e.g. of a counter rudder).
This effect is achieved by the counter rudder setting (Cnt.Rud).
Counter rudder too high:
The ship is stopped before it reaches the new set course.
Counter rudder too small:
The ship does not stop in good time and overshoots the pre--selected set course.
Autopilot NP2035
Autopilot
Operator Manual
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Edition: Apr 15, 2002
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2.1.3 Heading preadjustment more than 180
There are two different possibilities to adjust the heading preadjustment.
1.Preselected Heading
Heading adjustment und acknowledgement of the adjusted value by the Set--key.
In this mode the ship follows the respective heading adjustment within a range of
0 to 359,9. It means, there will be an all--around circle.
For example: Actual heading is 270.
New heading will be 280.
Direction of roation should be Port.
The new heading will be 280 after a around circle of 350 with a
direction of rotation to port.
350
280
270
0
90
180
Fig. 2 Direction of rotation of the preselected heading
2. Direct
heading
The rotary knob has to be pushed--in while the heading value is adjusted.
In this mode the ship follows at once the new value and a change of heading can be
more than an all--around circle.
Caution: In case of a malfunction, it means a heading--jump with an adaption to
the new heading value, the initialized heading--change--maneuovre will
be aborted.
Autopilot NP2035
Operator Manual
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Edition: Apr.15, 2002
3578E/102--886/885.DOC012
2.2 Explanation of Used Symbols
Key actuation
pÉí
LED flashing
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LED out
pÉí
LED alight
Synchr: 234.6
Parameter indication flashing
Audible signal on
Audible signal off
Rotary knob pressed
Autopilot NP2035
Autopilot
Operator Manual
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Edition: Apr 15, 2002
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2.3 NP2035 -- PASSIVE -- (Steering Mode Selector in Position HAND)
The NP2035 has been separated from the steering control system by means of the
steering mode selector.
The operator unit now
-- acts as a display unit for the actual heading
-- indicates the connected sensors and their status
-- permits various configuration adjustments via the function keys.
Indications Comment/Notes
¡ Setting the steering mode selector to position HAND
HAND
(Status field)
(Parameter
group)
(Text line)
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Manual Steering
The current NP2035 operating mode is
no longer valid.
The functions of the command keys are
cancelled.
The set course (preset heading) is made
to follow up the heading.
The status of the heading sensor re-
mains displayed.
Within the text line, the status of the
NP2035 equipment is permanently dis-
played.
The last parameter group number re-
mains indicated.
Settings such as
-- parameter management
-- display management, or the
-- dimmability of the key and
display illumination remain possible.
Possible sensor failures (compass, log
etc.) are signalized by flashing of the
symbol key LED.
Alarms are not indicated via the text line
(no audible signalling).
Autopilot NP2035
Operator Manual
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Edition: Apr.15, 2002
3578E/102--886/885.DOC012
2.4 NP2035 -- ACTIVE -- (Steering Mode Selector in Position AUTO)
The Autopilot NP2035 is connected to the steering control system via the steering mode
selector switch.
Indications Comment/Notes
¡ Setting the steering mode selector to position AUTOPILOT NP2035
AUTO
Setrudder: 0
(Status field)
(Parameter
group)
(Text line)
(Command
keys)
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The NP2035 is automatically switched to
operating mode COURSE CONTROL
(Heading Control). The LED lights up.
The last limit value adjustment for R.o.T.
or radius is active.
The current heading is adopted as set
course presetting (preset heading).
The heading sensor status is indicated.
The last selected infotext appears in the
text line with its current value.
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Raytheon Nautopilot 2035 Autopilot NP 2035 Operating instructions

Category
Navigational compasses
Type
Operating instructions
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