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• Hydraulic system
operate on Pascal law, P RES S URE =
Find P re s s ure
“Pressure in a fluid F
2= 200 lbf
directions” F
1=20l
b f
2
A
1=2i
n
P re s s ure =
10 ps i
Autopilot
Pilot input Ruder servo Compass Heading angle
The autopilot system is complex system divided into
following components
The input –Connected from different sensor to the controller
• Gyrocompass
• GPS
• Wind sensor
• Human input
Outputs- To move vessel around to desired position
• Main propulsion
• Tunnel thrusters
• Azimuth
Controller- It is recommended for efficient control system
that autopilot system to have
• Good output feedback
• Good wave notch filtering
• And good integral action for compensation of wave drifts.
Methods of control Course changing
– Here the input come from the pilot as a step command,
• the rudder is then rotated in the direction of the desired
course.
• The amount of heading change is determined by the
amplitude of the step command and heading
• and position of the pilot are determined by the
judgement of the helmsman.
Input comman
State
Controller
response
TRACKEEPING:
• Here the control of the heading and the position
is done by the autopilot.
• It takes position information and calculates the
heading and correction in real-time to make the
vessel follow the prêdermined course.
Input command
state
Controller
response