PT500 Autopilot

INTRODUCTION

1
 AUTOPILOT
SYSTEM CONFIGURATION

2
SYSTEM CONFIGURATION OF PT500
Power supply/Pump running signal
Power supply,etc. No.1Starter

supply
Power
Rudder order
signal,etc.

Actuator control signal

No.1Actuator No.1
Pump unit
Steering gear
μ-transmitter
Rudder feedback signal

Rudder feedback signal

μ-transmitter
No.2
Actuator control signal Pump unit
Rudder order
No.2Actuator
signal,etc.

supply
Power
Power supply,etc.
Power supply/Pump running signal
Ｙａｒｄ No.2Starter
3
STRUCTURE OF AUTOPLILOT STAND(1)
DESIGN OF ＡＵＴＯＰＩＬＯＴ STAND

STAND ＷＩＴＨ ＢＵＩＬ

ＢＵＩＬT
T－ＩＮ
CMZ700 GYRO COMPASS DIMENSIONS

4
STRUCTURE OF AUTOPLILOT STAND(2)
AUTO STEERING UNIT
-PID-
PID- (PB345)
ANNUNCIATOR UNIT(PH614)

SWITCH UNIT (PH721)

STEERING REPEATER SWITCH UNIT (PH720)

COMPASS (MKR051)

SWITCH UNIT (PH718)

AUTO STEERING UNIT

-ADAPTIVE-
ADAPTIVE- (PB343)

HAND STEERING
UNIT (PB355)

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STRUCTURE OF AUTOPLILOT STAND(3)
System block diagram
PILOT STAND Ship’s
Ship s power
Auto steering unit supply
(PB343) No.1 MANUAL
TERMINAL BOARD
Annunciator unit
(PH614)
Override unit
(PH725) PID Auto unit
(PB345) No.1POT. No.1
Actuator

AUTO TERMINAL
UNIT Hand steering unit
(PB335) No.1
Switch unit
Switch unit (PH718) Actuator
system/NFU
GYRO/LOG No.2POT.

ECDIS

MAGNET(TMC)
No.2 MANUAL
Ship’s
Ship s power
24V
24V DC TERMINAL BOARD
SHIP’S
SHIP S POWER SUPPLY supply

6
INDIVIDUAL UNITS AND
THEIR FUNCTIONS

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STRUCTURE OF AUTOPLILOT STAND(4)
② ①
③ ⑮

④ ⑧ ⑯

⑤ ⑨ ⑪ ⑬ ⑰

⑥
⑩ ⑫ ⑭

① Data display ⑧ Course registration key ⑮ Course registration dial

② Gyro compass select key
③ Aux.Direction sensor select key
④ Buzzer stop key
⑤ Rate radius mode select key
⑥ Ship speed registration key
⑦ Registration course indicator
⑨ Rudder angle limit registration key ⑯ Save heading key
⑩ Off course alarm registration key ⑰ Up/Down key
⑪ Parameter registration key
⑫ Operation mode select key
⑬ Enter key
⑭ Draft mode select key

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STRUCTURE OF AUTOPLILOT STAND(5)
Function
Data display : Normal indication of data display
ＳＰＤ ＡＵＴＯ０．０ｋｔ
ＨＥＡＤＩＮＧ－Ｇ１７９．８° Speed (kt
(kt)
kt)& Rudder limit
heading（
heading（degree）
degree）
ＬＩＭＩＴ
ＨＥＡＤＩＮＧ－Ｇ１７９．８°

ＲＵＤ.
ＲＵＤ.-ＡＮＧＬＥＳ２９．５° Rudder angle (degree)
ＬＩＭＩＴ
ＨＥＡＤＩＮＧ－Ｇ１７９．８°

R.O.T.
R.O.T. S 59.5°
59.5°/min Rate of turn (degree/min.) Auto steering unit

ＣＲＳ ＤＥＶ’ＮＳ２５．５°
ＤＥＶ ＮＳ２５．５° Course deviation (degree)

Control mode
COURSE CONTROL
STEADY
-STEADY : Course keeping mode
-ALTER : Course alteration mode

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 STRUCTURE OF AUTOPLILOT STAND(6)
HAND STEERING UNIT (PB335)
①
③ ③

① Hand steering angle indicator

Indicate ordered rudder angle on the hand
steering mode.
② Dimmer
Turn on-off steering direction indicator lamp
and adjust brightness.
③Steering direction indicator lamp
:Turn on this lamp when actuator moves
to port side.
:Turn on this lamp when actuator moves
to starbd side.

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STRUCTURE OF AUTOPLILOT STAND(7)
SWITCH UNIT (PH720) Switch unit (PH720) is a switch to select steering mode from four
modes and it has a cam switch with four selection step.Each
abbreviation for the modes is as follows;

① NAVI Steering mode controlled by external computers.

② AUTO Automatic steering mode
③ HAND Manual steering mode
④ RC Remote control steering model
These abbreviations are displayed on LED’s The dimmer is used
in common with PH718.

SWITCH UNIT (PH721)

Switch unit (PH721) is an auto steering unit selector switch in

which a digital PID auto steering unit (option) is installed. The
dimmer is used in common with PH718.

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STRUCTURE OF AUTOPLILOT STAND(8)
SWITCH UNIT (PH718)
Switch unit(PH718) is equipped with a control system selector
.
switch and a non-follow-up steering lever.

① System selector switch

System selector switch(PH718) is a switch to select a control
line of a pilot stand from the following lines.
・OFF : Power off position
・FU-1: No.1 SYSTEM
・FU-2: No.2 SYSTEM
・NFU: Non-follow-up steering system
② Non-follow-up steering lever
Non-follow-up steering lever is a self-returning lever to be used
for non-follow-up steering.
③ Dimmer
Dimmer adjusts brightness of the LEDs which display on the
plate as abbreviation. It is used in common with PH720 and
PH721.

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 STRUCTURE OF AUTOPLILOT STAND(9)
ANNUNCIATOR UNIT (PH614)
Annunciator unit indicates as following;
1. The operating condition of Control power supply and Actuator status
DC :24V DC input indicator
PWR ON : 100V AC power indicator lamp
PWR FAIL : 100V AC power failure alarm lamp
ACT RUN : Actuator running indicator lamp
ACT FAIL : Actuator failure alarm lamp
HYD LOCK: Hydraulic locking alarm(the same cause as actuator failure)
2. Auto steering unit status of failure
AUTO FAIL: auto steering unit failure alarm lamp
EMRG ALM: Emergency alarm lamp
CAUT ALM: Caution alarm lamp

STEERING REPEATEER COMPASS (MKR051)

① REPEATER CARD
Compass motor,synchronous type,
drives repeater compass card.
① ② Dimmer
Adjust brightness repeater card lamp.
③ Switch panel
Alignment switch
③ ② Running indicator lamp(GREEN)
Failure lamp(RED)
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 STRUCTURE OF AUTOPLILOT STAND(10)
TERMINAL UNIT(PN026)

No.2
No.2 TERMINAL BOARD
Terminal unit converts signals
among units of auto steering,
No.1 TERMINAL BOARD
hand steering, switch, anuunciator
and functions to input/output
between control and power
source box and other external
equipment. AUTO TERMINAL BOARD

Terminal unit consists of an auto

terminal board and manual
terminal boards. The first board
is to communicate I/F with auto
steering unit and with external
equipment and the second one
is to convert steering signals between terminal unit and control and power source box.

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 OPTION’’S CONFIGURATION
AUTOPILOT OPTION

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THE ROLE OF THE CONTROL & POWER BOX
Starter box
Control and power box

NFB NFB
AC 100V AUTOPILOT SHIP’S
SHIP S
SYSTEM POWER SUPPLY POWER SUPPLY

POWER
CONTROLER

RUDDER ORDER
SIGNAL(±
SIGNAL(±1mA/deg.)
mA/deg.)
SERVO AMP ACUTUATOR S/G POWER UNIT
S/G RUNNING
S/G FEEDBACK CIRCUIT CONTROL CIRCUIT CONTROL CIRCUIT
SIGNAL
SIGNAL

ALARM RELAY
SIGNAL

S/G
POWER UNIT

ACTUATOR

S/G FEEDBACK SIGNAL

μ‐TRANSMITTER
μ‐TRANSMITTER

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FEED BACK UNIT (1)
μTRANSMITTER

Potentiometer
3
2
4
1

+15
FB
-15
COM
57A
Starbd
57B
58A
58B
Port

μ‐transmitter
μ‐transmitter diagram

Steering gear and μ-transmitter lever link mechanism

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 FEED BACK UNIT (2)
Installation of μ-transmitter
Lever shaft of μ
transmitter Rudder head axis
Length “A”

Length “D” φ φ Turning radius

Length “B”

35°
35° 35°
35°

Length “C”

Length “C
C” = Length “A
A”
Length “D
D” = Length “B
B” Connecting bar
Operational point

Rudder head
Grand

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 (2--1)
FEED BACK UNIT (2

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 THE LINK OF μ TRANSMITTER

Link of μTransmitter

20
MOVEMENT OF μ TRANSMITTER

21
INTERFACE OF EACH
STEERING GEAR TYPE

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 INTERFACE OF EACH STEERING GEAR TYPE
Autopilot has the variable interface method for the structure of steering gear and the kind of
the gear pump and the actuator.
The relation between the form and the control method of the our autopilot is as follows.
Type of Cont. Control Type of gear pomp Control Steering gear maker
& Power Box device(=Actuator) method
N Solenoid valve Constant delivery KHI, OTHERS
pump On-Off
N2F MHI (SFC/DFC Type)
H Power unit Variable delivery Semi- KHI (FM/RM Type)
pump proportion
J (Two loop) MHI (SF/DF/D Type)
Y Torque motor Proportion MHI (SFT/DFT Type)
(Single loop)
S HZ (P/F/FS/T Type)
KT KHI (FE/RE Type)
T Proportional valve SHI, HATLAPA.
□ST Type)
(SAMSUNG-HATLAPA, HATLAPA,R□

MHI : Mitsubishi Heavy Industries, Ltd. (Japan)

KHI : Kawasaki Heavy Industries, Ltd. (Japan)
HZ : Hitachi Zosen Co. (Japan)
SHI : Samsung Heavy Industries Co.,Ltd. (Korea)
SYSTEM CODE OF AUTOPILOT HATLAPA : HATLAPA Uetersener Maschinenfabrik Gmbh & Co. (Germany)

ＰＴ□□□
ＰＴ□□□－
□□□－＊＊

Type of Control & Power Box

System model of Autopilot：
Autopilot：PT11/21,100/200,500A/D
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 ACCURACY OF RUDDER CONTROL
Case of Two loop steering gear, the rudder stops by the inertia of itself after the solenoid valve
becomes neutral. because the servo valve is controlled with ON/OFFON/OFF signal. The dead-
dead-band
circuit is built in the control circuit of Autopilot to get the accuracy of the follow-
follow-up steering and
to prevent the hunting.
Case of proportional controlled steering gear, the slight opening
opening and shutting of the valve is
possible because the servo valve of the hydraulic pump moves linear.linear. Therefore, the rudder
control is no dead-
dead-band, and Autopilot can steer high accuracy.
On-
On-Off / Semi-
Semi-proportion control
N, N2F, J and H type Proportional control
(Solenoid valve control) Y, S, KT and T type
Proportional band
OUTPUT adjustment OUTPUT

Dead band adjustment

Rudder deviation angle Rudder deviation angle

P S P S

DEAD BAND; PROPORTIONAL BAND;

Area where solenoid valve is stopped though Area where tilting angle of servo valve
rudder deviation is caused is proportionally controlled according to
value of rudder deviation.
Accuracy：±
Accuracy：±0.5
：±0.5 degrees Accuracy：±
Accuracy：±0.2
：±0.2 degrees
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 SOLENOID CONTROL TYPE STEERING GEAR(N2-TYPE)

1. Outline of the steering gear 25

TORQUE MOTOR CONTROL TYPE STEERING GEAR
(KT-
(KT-TYPE)

26
 SYSTEM CONFIGURATION OF PT500 (1)
Solenoid control
N type No.1
S/G starter
Mitsubishi SFC,DFC
No.1μ
No.1μtransmitter
From A/P
Kawasaki V series
No.1 C/P Box
Hatlapa Ｖ type

From A/P
No.2μ
No.2μtransmitter Porsgrunn
No.2 C/P Box No.2
S/G starter Ulsten(Fridenbo)
Ulsten(Fridenbo)

Autopilot stand
H type No.1 Power unit control
S/G starter
From A/P
Kawasaki heavy Industrial
FE,RE Type
No.1 C/P Box

From A/P
No.2
S/G starter
To No.1 No.2 No.2 C/P Box
C/P Box

J type No.1
S/G starter Power unit control
From A/P

Mitsubishi heavy Industrial

No.1 C/P Box SF,DF,D Type
Power unit
From steering gear pump
From A/P From AUX. steering gear pump
Valve block No.2
No.2 C/P Box S/G starter

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 SYSTEM CONFIGURATION OF PT500 (2)
No.1

Autopilot stand
Y/S type Un load valve S/G starter Torque motor control
* Li Mitsubishi heavy industries
From A/P
No.1μ
No.1μtransmitter
No.1 DD motor
SFT/DFT Type
No.1 C/P Box Hitachi zosen
No.2μ
No.2μtransmitter P/F,FS/T Type
From A/P
No.2 C/P Box No.2 DD motor
Un load valve No.2
To No.1 No.2
C/P Box S/G starter
* Li Limit switch equipped at S type : S type add broken line.

No.1 Torque motor control

K2T type Un load valve S/G starter
Kawasaki heavy industries

ＬＶＤＴ
From A/P Li
No.1μ
No.1μtransmitter
No.1 torque motor
FE,RE Type
No.1 C/P Box

ＬＶＤＴ
No.2μ
No.2μtransmitter
From A/P No.2 C/P Box No.2 torque motor
Un load valve No.2
S/G starter
Li :With limit switch

No.1 Proportional control valve

T type S/G starter
Samsung-
Samsung-Hatlapa
From A/P No.1μ
No.1μtransmitter
Hatlapa
No.1 C/P Box R□ST Type

No.2μ
No.2μtransmitter
From A/P No.2 C/P Box
No.2
S/G starter

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TYPE OF STEERING GEAR

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STEERING GEAR TYPE (1)
TRUNK PISTON TYPE

Trunk Piston type of steering gear has characteristics

of simple structure and of lighter weight than other
types and it can be set up in small area. Small ships
are often equipped with Trunk Piston type.

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 (2--１)
STEERING GEAR TYPE (2
RAPSON SLIDE TYPE

Rapson Slide type makes steering through the

tiller directly, adding strength to the ram generated
from the pressure of a hydraulic pump. The type is
called of 1 ram and 2 cylinders which consists of
one pair of hydraulic cylinder with ram fitted.
Middle and small ships are often equipped with this
type.

While there is another type called 2 rams

and 4 cylinders which consists of 2 pairs
of hydraulic pump with rams fitted, which
is arranged to be symmetrical with
respect to rudder stock. Large ships are
often equipped with this type.

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STEERING GEAR TYPE ((２
２-２)

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STEERING GEAR TYPE (3)
ROTARY VANE TYPE

Rotary vane type of a steering gear directly makes the

rudder stock rotate by carrying pressure oil to a pressure
room where is the space constructed between the rudder
stock and the casing with a rotary vane that surrounds the
rudder stock to which the boss with the rotary vane is fixed
using a key.

Rotary vane type is compact which

can be set up in small area. This
type of steering gear is often
adopted
in middle or small ships and also
adopted as a steering gear with big
rudder angle steering specification.

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SYSTEM BLOCK DIAGRAM

34
 AUTOPILOT SYSTEM DIAGRAM (1)
INS

OFF
Pilot stand ADAP PID AUTO HAND
No.2 No.1 Steering gear room
NAVI RC NFU NFU

FROM No.1 S/G RUNNING SIGNAL

D/A

A/N No.1 Manual terminal

No.1 Control & Power Box RUN
H No.1 NFU No.1
R
V/I SERVO ACTUATOR
AMP FU
ADAPTIVE No.1
AUTO V/I

No.1 μ
A
TRANSMITTER
P No.2 μ
TRANSMITTER
No.2 Manual terminal
No.2
PID V/I No.2 Control & Power Box
AUTO A/N
RUN
H No.2 SERVO FU No.2
V/I AMP
R ACTUATOR
NFU

RC FROM No.2 S/G RUNNING SIGNAL

35
 AUTOPILOT SYSTEM DIAGRAM (1)
INS

OFF
Pilot stand ADAP PID AUTO HAND
No.2 No.1 Steering gear room
NAVI RC NFU NFU

D/A

A/N No.1 Manual terminal No.1 Control & Power Box

H No.1 NFU RUN
R
V/I SERVO P’P
P μ
AMP FU
ADAPTIVE No.1
AUTO V/I

No.2 Manual terminal

No.2
PID V/I No.2 Control & Power Box
AUTO A/N
RUN
H No.2 SERVO FU
R V/I AMP P’P
P μ
NFU

RC

36
SCHEMATIC DIAGRAM
FOR POWER SUPPLY

37
 POWER SUPPLY
No.1 Manual terminal
No.1 Control & power box
Auto terminal RL6 No.1 S/G starter
ON AC100V
RL6
U U R
DC power
supply V V S
T
DC power Control power
supply supplier

FU1
Actuator
AC440/380/220V
FU2 1φ or 3φ
3φ

Actuator
AUTO UNIT

DC power Control power

supply supplier No.2 S/G starter
R
ON
AC100V
U U S
V V T

Autopilot stand No.2 Control & power box

No.2 Manual terminal S/G room

38
 POWER SUPPLY SYSTEM for THREE PUMPS CONTROL

No.1 CONTROL & POWER BOX

AUTOPILOT CONTROL STAND POWER SUPPLY CHANGE-OVER UNIT
POWER
SYSTEM SWITCH TB1
SWITCH R1 TB1 TB1 TR.
R
U1 U Ship's power supply
S
R1 100V AC T 440V AC 60Hz 3phase
1phase
AUTO TERMINAL NO.1 MANUAL TERMINAL
V1 V
ADAPTIVE RL6
RL1 RL6 ON TB1-1 TB2 A1 R2
AUTO UNIT POWER RL1 A1
NO.1 U UA
(PB343) SUPPLY POWER
RL7 A2
(COMMON) RL7 SUPPLY
24V DC V VA
PID AUTO UNIT
(PB343) TB1-2
SFL4 A1 B1 R3
No.1 POTE. No.2 CONTROL & POWER BOX
NO.2 MANUAL TERMINAL POWER
No.1 ±15V DC
SWITCH TB1
ON TB1-1 TB1 TB1 TR.
NO.2 U R
No.2 POTE.
U2 U Ship's power supply
POWER S
No.2 ±15V DC R2 100V AC T 440V AC 60Hz 3phase
SUPPLY 1phase
V
HAND V2 V
TB1-2 C1 B1 R1
UNIT No.3 POTE.
(PB335) SFL4 B1
No.3 ±15V DC
NO.3 MANUAL TERMINAL B2
No.4 POTE. ON TB1-1 TB2
NO.3 C1 R2
No.4 ±15V DC U UB
POWER
SUPPLY No.3 CONTROL & POWER BOX
V VB
POWER
TB1-2 SWITCH TB1
SFL4 R3 TB1 TB1 TR.
R
U3 U Ship's power supply
NO.4 MANUAL TERMINAL S
R3 100V AC T 440V AC 60Hz 3phase
1phase
ON TB1-1
No.1 Control power fail NO.4 U V3 V
ANNUNCIATOR No.2 Control power fail POWER C1
UNIT SUPPLY
V
(PH614)
No.3 Control power fail C2
TB1-2
BCM TB2 A2 Power fail→"OPEN"
NV1 A2 TB1
NV2 B2
C2 A1
NV3 No.1 Control power fail
A2
BCM B2
B1
No.2 Control power fail
B2
C2
C1
No.3 Control power fail
C2

39