・ The system which makes changing and keeping course by controlling a rudder during sailing. 2) The type of control valve which controls rudder actuator (steering gear). ・ Type E: Control of solenoid valve (except type E0) ・ Type DM / DW: Control of torque motor (connected servo valve) ・ Type L: Control of floating lever (connected serve valve) ・ Type P: Control of servo motor and floating lever (connected servo valve) ・ Type of ZZ: the system was separated into below sections; SGCS(Steering Gear Control System: Control rudder actuator section) HCS(Heading Control System: Auto steering section) In this type, Tokyo keiki supply HCS only. SGCS will be supplied from other company, because the type of control valve will be unknown. 3) Steering mode of Auto pilot Non follow up mode:This is the steering gear control system which the rudder control signal is directly sent to steering gear without passing through any processing circuits and servo amplifer. The rudder moves during the lever kept turned to Port or Stbd. ・ Lever steering Follow up mode:This is the steering gear control system which the rudder control signal is sent to steering gear control passing through processing circuits and servo amplifer. ・ Hand mode:Handle steering ・ Auto mode:Auto steering(The order rudder angle is calculated so that the ship’s heading coincides with the setting course to keep the course) ・ RC mode:Remote control steering(Remote control unit or Joy stick (and so on…)steering) ・ TCS mode (inside the RC mode):Track Control System is one of the type of RC mode (ECDIS order to Auto pilot) 4) About Auto steering system PID control:Proportional Integral Differential P・・・Rudder I・・・Auto calculation(CPU) D・・・Rate (adjust point) ※In this mode, check adjustment of the optimal value is required at the sea trial. ADPT(MRACS) control:Model Reference Adaptive Control System The MRACS gives desirable specifications for the control system (including ship’s hull and Auto pilot) as the mathematical model(called reference model), and performs the gain (adjustments of Kp, Td, Ki) to coincide the output of mathematical model with the actual output of the control system.(by CPU)
ADPT(NCT) control:Notable Control Technology
This algorithm is estimated by the ship characteristics as the mathematical Model, and performs the gain adjustment to be proper control.(by CPU) ※ Difference of function of old ADPT and function of NCT ・ Compared with the old ADPT, improvement in fuel consumption performance is expected 1%. ・ In the old ADPT, the estimation algorithm was effective only at the manual course changing. In the new ADPT(NCT),it is possible that the ship characteristics is estimated at the automatic course changing and at manual course changing.
Left: New ADPT(NCT) PWB Right: Old ADPT PWB
Steering system for ship and car STEERING STAND
SOLENOID VALVE TORQUE MOTOR
STEARING GEAR
RUDDER
Steering gear control block diagram
Steering gear control figure for car for ship Composition of Auto pilot