Bosch NKE 625.. Uživatelský manuál

Autopilots – Care & Feeding SHTP 2014 Brian Boschma

Rate Gyro vs Compass Only (ST4000 vs X5 in RayM Terms) Issue No Gyro Rate Gyro Gust/Wave Turns Boat Compass slowly reacts to course Detects near in

Compass Type Characteristics Mechanical Fluxgate Magnetometer Solid State 3 Axis Magnetometer Magnet to detect North. Sea State variations masked v

RM X5 Upwind and Reaching Resp = 9, Bay chop to 3 ‘ Sail = #2 Jib, Reefed Main 0204060801001201401601802001112131415161718191101111121131141151161171

-20-1001020304050600 2 4 6 8 10 12Course Time - Seconds Boats Course / Compass Reading / Course Error Course without Gyro Course(deg)CompassError

-20-1001020304050600 2 4 6 8 10 12Course Time Seconds Compass Error and Yaw Rate What Does a Gyro Do ? Course(deg)CompassErrorYawRate

-20-1001020304050600 2 4 6 8 10 12Course Time - seconds New Compass with Dramatic Error Reduction Course(deg)CompassErrorYawRateCorrectedNewErrorError

Wind Steering and Surfing True Wind Angle is Key • Your Maverick's gun has nothing on your sport boat when hooking into a 20’ roller with 24 kt

In Network vs Out of Network Sensors Network must accept Sensor data rate -Why ? Out of network sensors can be more accurate and have a faster respon

AP Power Use • Helm load and sea state determine the power usage. • Ignore the vendor’s data, you will likely see several times the current stated in

Type 1 Typical Current Load for Hydraulics and GP Tiller Wands (there is no such thing as a low power autopilot and your amperage will vary) 34’ Mid

Autopilot near Full Time Operation are Key Priorities: -Reliability & Robustness -Redundancy -Performance -Power consumption

Autopilot Current Breakdown for a below deck system don’t ignore clutch power 024681012Brain Drive ClutchPeakAvgZero in tiller wands & manual clut

History • Sail power to tiller via a variety of lines/blocks • Wind vanes ~ 1950’s • Low Cost Electronic AP for yachts ~ 1960’s – Mechanical compass

Wire Sizes for AP Install 10 amps 10’ run 10 amps 20’ run 20 amps 10’ run 20 amps 20’ run 0.3 Volt Drop 16 14 14 12 Brains Connection ** 1.0 Volt

AP Electronic Systems Sensors: Compass Wind GPS Speed Hydraulic Type 1 Rudder Drive Above Deck or Ball/Screw Drive Control Head Drive Electronics Brai

AP Robust Wiring (RM X5) Separate Drive Elec Compass & Sensors Control Head Drive Electronics Brains (small computer) Drive Units (high current) B

AP Wiring (RM ST4000) Separate Drive Elec Compass & Sensors Control Head Drive Electronics Brains (small computer) Drive Units (high current) Batt

AP Wiring (NKE) Separate Drive Elec Compass & Sensors Control Head Drive Electronics Brains (small computer) Drive Units (high current) Battey Bre

Wiring & Mounting Practices • Mount sensors in area of low vibration, avoid motor housing. • Keep away from speakers or other magnetic devices. –

Examples of Challenged Boats in 2012 • Warriors Wish: Moore 24, solar, B&G below deck hydraulic. Both power and installation issues that led to ha

AP Failure Mechanism’s • Tiller pilots – Water intrusion at the push rod seal. COVER – simple sleeve is all you need. – Condensation from cold, mois

Compass – 3 Major Types • Mechanical compass – Chinese invention ? Uses magnet carefully balanced. Use for fung-shey, navigation by birds, bees, sea l

-1.5-1-0.500.511.51 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89 91

-50-40-30-20-10010203040506016111621263136414651566166717681869196101106111116121126131136141146151156161166171176181186191Compass Error - Roll Rate I

Effect of Earth’s Magnetic Field Tilt on AP Dynamic Accuracy Heading 270 Deg • Pitch and Role disturb the compass reading. •In mechanical mechanisms t

Effect of Earth’s Magnetic Field Tilt on AP Dynamic Accuracy Heading 270 Deg Pitch Up • Pitch and Role disturb the compass reading. •In mechanical me

Effect of Earth’s Magnetic Field Tilt on AP Dynamic Accuracy Heading 0 Deg • Pitch and Role disturb the compass reading. •In mechanical mechanisms thi

Effect of Earth’s Magnetic Field Tilt on AP Dynamic Accuracy Heading 0 Deg Roll to Starboard • Pitch and Role disturb the compass reading. •In mechan

Failure Mechanism’s (cont) • Below deck units: 100’s of lbs of force are generated for up to 2 million rudder cycles (est). A type 1 hydraulic pum

Redundancy • Different Styles: – Flight Risk: French to port / English to starboard (NKE & B&G. – Green Buffalo: Two Alpha’s, one as parts.

Rudder Drive System and Load • An autopilot is no better than the response time of the helm – choose the appropriate drive. – Hydraulics are very rob

Above and Below deck Drives

Fluxgate Compass Modules -Mechanical Gimbal swings a electromagnetic toroid in 2 axis (pitch and roll). - Small signals are decoded at the brain box

Micro Sensor (MEMS) based Compass & Gyro 3 Axis Rate Gyro 3 Axis Magnetometer 3 Axis Accelerometer -Use micro vibrating elements etched in silicon