Bye ALJUSTMEN OF AUTOPILOT P1ZOOK2T TYPE STEERING ROCM EQUIPKENT YOKOGAWA NAVITEC YOKOGAWA NAVITEC CORPORAEION SHIBA HOSOIA BUILDING, 4th FLOOR 3-2, SHIBA-DAIMON 1 CHOME, MINATO-KU TOCYO, 105 JAPAN PRINTED IN JAPAN 08/'89 156187 2. CONSTRUCTION 2.1 Gontrol £ Power Bor : PC123 Ja the box,a kinds of power supply unit for the Control Stand and for contrelling the torque motor of the steering gear hydraulic punp, T/M CONTROL AMP PCB for :orque moter which ectrois hycraulic pump, relays for signal switching and a tier are hoised. See Figure 2-1 “UNLOAD VALVE" indicating Lan, “POWER” indicating Lap Timer Fuses TPOWER™ switch Figure 2-1 Contro: & Power 3ox "TERMINAL, BOARD PCB (1) “PORER™ svitch Power of 108V AC is supplied to the Control Stand by turring “ON"-of the “POWER” switch. At the sam time, poser is supplied to the torque nator control circuit for controling the steering gear hydraulic pus. Unless, however, the operation signal is input from the steering gear starter, the condition controlling the hydraulic pump is not rezched. The “POWER” switch mist, be kept “ON” except defective condition.ise 1 ©@ @ @ 6) o) 2 Timer . ‘Ths tiner is provided for controlling an autopilot in a condi:ion where pressure of the steering gezr hydraulic pup has stfficiently been raised. Therefore,powe> is supplied to the torque notor con:rol circtit about 3 seconds (sett.ng range ; 0 to Seee) after the tine is actuated »y turning “ON” of the “POER™ switch and inpatting of operation signal from the s:eering gcar starter. At the sane tine, the hrdraulic pump reaches the controllable cmndition. Indicating Lamps ‘a. POWER (NE2) + lasp is illuminated wien the “PIWER" switch is turned "OK". . UNLORN VALVEINE!) : Lamp is illuminated men unload valve in she steering gear +>. system #8 energized. Operation signal ‘Ths hydraul.c pump becomes controllable when the timer has vorked ifter the “POWER” switch turned “OM” and the operation signal rzached fron the steering gear starter. In this condition. a operation signal is ottput to the Control Stand as an on-off relay contact signal. 1/0 ANP PCB It is consis:ed of the terminal boards and the control relays. “T/M CONTROL, AMP PCB ‘This PCR outouts the. torque motor control signal to control the steering gear hydrauric punp oy receiving rudder order signal (+ 1mA/teg) from che Coontrel, Stand. ‘The PIB has several adjusting functions so that it cai perform the optimm control matching the stsering gear capability. These functions «ill are d:scrited below. a. Test function By setting tie switch SW1 on the lower part of the PIB in TEST rode, the Control & Pover Box cai be adjusted with the functim of Control Stand interrwpted. The simulation input if generated as a variable continuous signal by means of ‘the current adjuster WR4. (TEST). Adjustaent cf T/M CONIROL AMP FCB and of steering gear func:ion can be carried ‘ou: by this “TEST” mod. b. Adjustments of maximus stroke of pump ...........See Figure 2-1. The maxiaus stroke of hydraulic pump can be adjusted. The stroke defines rudder speed. The saximum stroke depends on the type of the stearing gear. Adjustable rage of the waxinua stroke of tydraulic pump > £5 to 27 deg. c. Adjusteent of proportional band . See Figure 2-2. A rudder angle deviation (difference tetween a rudder order and actial rudder angle ) with which the hydraulic punp reaches the wacimum strove s called the “proportional band”Stroke of hydraulic pump of hajustaent of aac. stroke 2¢ ‘hydraulic pum . Conteol of stroke for provortional rand of 3 tog. (A Adjustment of proportional band 7 ——Sstarbeard Figue 2-2 4. Autonatic gain control. when the hydraulic puap operation is transferred fron signal pump oreration to parallel operation, the steering gear might be subjected to hunting due to overshoot generated, unless the delivery to the ran oyLinder is adjusted. for this purpose, the function is provided, in which the maber of operating hydrauric punpe ie detested by relay signals and the propotional band is autoaztically increased (gain is decreased). Maxima 4 cunbers of hydraulic pumps can be operated in paraliel. : © Rudder Liait control one ite releosing level. ‘The maximum rudder arele (36 deg.) is set with a rulder limit switch equipped . on the steering gear. If a rudder angle exceeds the maxinam rudder argle. the Limit switch eperates “open, deenergizing the soleroid for the unload valve of the steering tear to stop the steering geer. At the samc tim it restcres the y hydraulic puny to its neutral position. Next. the rudder is not operated unless a ‘a reverse rudler order is input acre than a definite rudder axgle (normlly set to I deg.). is ordered. \ f. Aotuntor failure alara ‘The T/M COATROL AMP PCB rotates the torque notor in proportion to the rudder angle deviation to control the hydraulic rump. At the same tine, the coxtrolled variable is feed back by LVDT. Lf the secvo system becones faulty by any cause (s) and that concition continues for 2 to 3 seconds, the steering gear stops by demergizing of the unload valve. Then 1/M CONTRO. AMP PCB outputs en alara . signal to the Control Stand by means of a relay contact. =CAITION When “Actuator féilure” is issued. control of the stesring ear may be disabled. In this case, change-over the steering gear hydraulic pump to the back-up systen imnediately. 1M gor02-66E 160s 161 2-4 2.2 g~Transnivter +See Figure 2-3. The x-Transaitter detects the rudder angle being connected to the tiller of the steering gear. The transaitter incorporates a 4-transaissim synchro The u-transmission synciro converts the rudder angle to a syncro signal and feeds back it to che T/M CONTROL AMP PCR in the Control & Pover Box. PIIO (Standard product) W. transtission syschro, Pr1G2 (Option preduct) Lge Figure 2-3. 4 -Teansmitter3. OPERATION 3.1 Preparation To operat: the autosilot systen, go through the following steps. (1) Make sire that tie “SYSTEW" switch in the Control Stand is placed in “OFF” prsiton. (2) Confira that the stecring gear starter is “ON” (3) Check that the steering gear is in a condition. that permits renove steering. (4) Confira that the timer in the Control & Power 3ox is set to a proper value (set a: about 3 sec). (6) Turn “ON” the “POER™ switch in the Control & ower Box. 3.2 Operation After the above 2onditions are completed, turn the “SISTEN” swi:ch on the Control Scand to FU-1(NO. 1) o> FU-2(NO.2). Using one (i) hydraulic pum independently or wwo(2] hydraulic pums in paratlel for the steering gear is determined by selecting operatien signal from the steering gear starter. Following are operating proceduces. Status Operating line “SYSTEM” switch ‘Operation signal Control form of in the Centrol Stand from the S/G starter the hydravlic pump: ‘NOLL W0.2 WO.L ‘NO.2 NOLL NO.2 ° ° ° . ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° M stnor-cer 162Se 163 4-2 lever is paced in the neutral position, the unload valve is alvays put in the demergized condition. an J ie RUDDER LIMITER iy aC eT TRANSMITTER Hod 4 { ig 2} =] Gg B35 es} i 3] | ls 7] = a ee ! | i aa i . ] F : Lt | g 5 2 i 5 8 i i 5 3 | é z é 5 Gg Figure (1 Basic Function of Type KT Autopilot i164 INSTALLATION 1. This section provides principally the confirmation and adjustnent: for TYPE KT steering gear equipment power units used for autopilot control systens. Included :n this section are TM CONTROL AP in cortrol & power box, - ‘TM TORQUE MOTOR and M-transmitter. Prepararion. 1) Make sure that the power switches are turned to OFF in steering gear szarters and control & power boxes. 2} Confirnation for external wiring. After removing the ship yard wires among exciting coil (DT3), contro: coil (D1,DT2) and comnon are as follov. co Exiting coil DI3-Dr4 is 8 ohm. Control coil Dr1-pr4/ DT2-DTA is 18 ohn. 3) Confirnation o steering gear running only. a) Run the steering starter in operation b) By nanual turning of torque motor Inob, mak: sure that its . maximum turn angle >eaches three quarters 02 full scale. 4) Adjustnent of vudder limit switches. a) Set the power switch to ON in control & power box. b) Adjust the -ndder limits at 36.2 +/- 0.2 dezrees by manual . turning of sorque motor knob and maze sure that the UNLOAD VALYE actuazes at the limit positions and steering zear stopes at ics position. ADJUSTMENT OF TORQUE MOTOR UNIT. 1. Preparation. a) Set the power switch to ON in control & power 20x and run the steering starter in opsration. b) Confirnation of steering gear zero adjastment in NFU mde. When the: torqu2 motor Lever returns to zero point from either PORT o> STD side with self spring force, make sure whther th: hydraulic pump operates at a fine angl: even if the insut zero or not. —™ OFF 2. VM torque motor anit turaing direction oncek. a) Make sare that the maia pilot switch ia the coatrol stand is placed in the FF position. b) When the TEST switch (3W1) are turned to NOR side on tne T/M CONTRO. AMP, tie T/M torque motor unit should be stopp2d in the neutral position. If 4t rotates in eitaer direction, reconnect the wirings-: . 165 because, the external terminals (TMA anc TMB) of the torque motor unit or those terminals (DIL and D12) of LWT ( Linear Valiable Differential trance ) incorporated in 1/M motor unit are reverse connected. ©) Set SW to TEST side. - ¢) If the TEST volume (VR4) is turned to the right, The 1/M torqve motor unit turns to STBD side. Inverse, the TEST volume (VR4) is turned to the left, T/M torque motor unit should be turned to PORT side. If the 1/M torque motor turns in reverse. reconnect the above mentioned wirings, because it is wrongly connected. NOTE: Each turn direction of 1/M torque motors, TYPE REGOSO and REG 260/500 differs each other, please refer to training text page. “N 3. Ajustmont of maximum pump etroke in the NFU mode. . The maximam pump stroke in the NFU mode is determined by the angle ubich are limited by mechanical stoppers on T/M torque motor unit. a) Turn the 1/M torque motor unit by order PORT cr STBD with the NFU lever on the control stand. . b) Set the mechanical stoppers on 7/M torque moter unit at a - position. Tt is normally adjusted to a rudder tuning speed from 22 to 23 seconds per 65 degrees ( P35 - $30 / $35 - P3C degrees ). ‘T/M CONTROL AMP PCB ADJUSTMENT j9e ( 1. Tools required Circuit tester with range DC 20nV. 2. Preparation prior to adjustment. 2) If the 1/M CONTROL AMP PCB is desired to be adjusted with the torque motor controlling the hydraulic pump in operation, turn the selector switch on the T/N CONTROL AMP PCE to TEST positicn. ‘This allows adjustment by seperating the control stand functions. . . b) In addition to the above , if adjustment is required with the torque motor not in operation, renove the fuse F4. ©) Now the preparation is completed and the adjustment is ready. 3. Zero adjustment of the LVDT feed back signal cirauit. a) Discomect fuse F4 (5A), make sure thet the T/M torque motor returns to the neutral position.166 If it is not neutral position, adjust its zero position by TORQUE MOTOR ZERO ADJUSTER VR2. b) Connest the circuit tester to check terminals CT9(+) and cTi2(som). ©) Adjust the circuit tester reading to OV +/~- 10mV by turning the LVDT ZBRO ADJJSTER. a) In nect step, turn T/M torque motor mob to STBD direction ( 27 degre2s STBD ) until stopped by the mechanical stopper. e) Adjust the LVDT FEED BACK GAIN ADJUSTER VR20 until the voltage across the chsck pins CT9(+) and CT12(con) reaches -£V +/— 20nV. f) Furthermore, turn the torque motor knob to PCRT direction ( FORT 27 degrees } antil stopped by the mechanical stopper. Make sure that the circuit tester reading across the check pins CT9(+) and CTL2(com) ts +5V +/- 20m Zero adjustment of M-trensmitter. 1) The zero position of W-trahamitter be able te adjust in both side Y-transmitter synchro and M-ZERO ADJUSTER VR26 on T/M CONTROL AMP. The aijuctment procedure are as bellow. 2) Set tae Auto pilot main switch to NFU position and order the midship by NFJ lever. Make sure that the steering rudder stops at nidship position and the ‘pointer indicates tne zero position on the scale or M-tranamitter. 3) In tne case of feed back signal are aut of allowance value. a) Slowly rotate the synchro until the voltage across the check pias CT11(+) and cr12(com) becomes OV +/— 1omv. b) Adjust the volume UR26 ( u-zero adjuster ) on 1/M control AMP until the voltage across the check pins CT11(+) and CT12(com) bezomes OV +/~ 1Onv. Span adjustment of p-traasmitter. 1) The adjustment should be made with 20 degrees (STBD/PORT) order of steering gear by NFU lever. It will be made to increase steering move spen by anticlockwise turning of RUDDER FEEDBACK SIGNAL SPAN ADJUSTER VR23. The ballance 2f PORT/3TBD rudder moving span be able to be ven by small turning the VX zero adjuster VRE ( u-zero adjuster on multiplicator ) a) Order 20 degroes STBD or PORT by NFU lever. b) Adjust the volume VR23 ( prspen adjuster ) until the voltage across the check pins CTi1(+) and CT12(con) reaches 4.8V +/— 2onv. NOYE: The voltage (order signal) across the check pins CT15(+) and CT12(com) should be as much as the voltage (wulder feed back signal) across the pins CT15(+) and~~ ee cT12(com). + Adjustment of macimun punp stroke (turning rudder speed). 1) The maximam stroke of hydraulic pump zan be adjusted. The stroke defines rudde> speed. The maximum stroke depends on the type of the steering year. Adjustable range of maximun stroke of hydraulic pump are +/-5V per 27 degress. @) Connect the circuis tester with DC volt raige to creck terminals 0T4(+) and CT12(com). b) Se: SWI to TEST side. ¢) Tum the test adjuster VR4 fully clockwise. 4) Adjust the circuit adjuster reading to shov +3V +/- 10nV (correspondence to maximun stroke of +/~ LS degress by curnaing S-Span adjuster VR1i). Nom: ‘The maximum angle of T/M torque motor are less than mechanical stopers in ite order. e) The above adjustment is for a standard turning spe2d of 65 degrees per 23 seconds. It must be noted that as maximum scroke is specified for exch type of steering gear to be used i> by turing adjuster VRLI 80. as to meet the steering gear a. an adjuster VR1O in the sam way as for S-span justment Adjustment of proportional band. a) Conneet the eireuit tester to check corminals CT16(+) and 67:2 com), ¥) Set SVZ to the TEST side. ¢) Adjust the circuit tester reading with DC vol: range zo show -/- 0.36 ¥ (correspondence to 3 degrees S"BD/PORT order) by turning TEST adjuster VR4. 4) Connect’ the circuit tester with DC vo.t range to check pins CT17(+) and o712(com). ¢) By the P-BAND adjuster VRIS adjust its circui; tester reading {CT17-CT12) so that it equals the reading ind.cated by the circuit tester across the check pins ¢T4(+) and CT12(com). (refer to the maximum pump stroke. 3V +/— 10m¥ equals to a proportional band of 3 degrees) 8. Proportional BAND adjustnent when operating nore than one hydrat pump in pararell. 1. If the hydraulic pump are to be operated in parallel, the gain control circuit is designed to be operated by the hydraulic pump running signal ( contact ON-OFF signa. which urns On in operating stavts ) from the other systen star‘er and che gain is decreased { increasing the proportional basd ) to prevent rudder hunting.168 2. Following adjusters ere used for gair adjustrent in ferallel | Pump operatic. a) Adjuster VRi9 : b) Adjuster WR17 : ¢) Adjuster VRIB : velume for parallel operation of two hydraulic pumps. volume for parallel operation of three hydraulic pumps. volume for parallel operation of four hydraulic pumps. These adjusters increase the gain when turned clockwise and decrease the gain when turned anticlockwise.169 “mm — 18UB1 Yseqp68) ApnAU!CNVZe= # 6A Wonys senceaueys jeu8ys Indu! Las, voyiessdo je] yex vo} 3816d Uo} esd Jsisnfpe purg « 4036n{pe and Attached Figuce §-1 T/M CONTROL AXP PCB170 5 Attached Figure §-3 function D.agras of 1/M CONTROL AMP PCB 12/2)17 sas 20 267 aS Attached Figure 5-2 Function Diagran of [/M CONTROL AMP PCB 1/2)