Remote Calibration; Operating Without Rfu; Adjusting The Pid Control - TMQ C-Drive 5 Installation And Service Manual

Remote Calibration

The remotes may require calibration
to provide full rudder travel from each
remote. Proceed as follows:
• Select main menu (refer Set up page
36) using the computer keyboard
• From Main Menu select
1: Remote menu
• Calibrate each remote by selecting
3, 4, and 5 in turn
• Move each remote control through
full travel from fully anticlockwise to
fully clockwise
• Press Q to quit the menu
• C onfirm remote calibration on
completion

Operating without RFU

If chosen "0" for main mode in rudder
menu, the autopilot will operate the
autopilot mode without reading the
RFU, apart for the rudder limits if it is
connected.
In this mode, the program does
not use the PID concept, but uses
pulses of current in order to turn the
motor. The length of these pulses is
proportional to the value adjusted
for the pulse length, in the steering
menu. When the vessel is heading
near to the desired direction, the
pulses are shorter.
The more responsive the vessel is
to the rudder movement, the setting
should be lower. Usually, for larger
boats with high rudder inertia, it will
require a longer pulse.

Adjusting the PID control

PID stands for Proportion, Integral
and Derivative, which are the three
calculated values that summed
result in the control law value. This
value is the position to where the
Rudder must be driven. Following
it is described how each of these
values contributes to the control of
the vessel.
• P roportional value:
The bigger the error from the desired
direction from the current direction of
the vessel, the bigger is this value. It
provides a more responsive system
when the boat is too far from its
desired direction, but it is limited by
the maximum correction error set
under the "Other Ctrls Menu".
However, this proportional value may
be not enough when the vessel's
direction is being disturbed by some
force that takes it from its route
(unbalanced load, wind ...).
In the autopilot, the gain (contribution)
of this value is adjusted with the
rudder ratio.
• Integral value:
This portion of the control value
integrates the error, for compensate
the forces and disturbances that the
proportional control value can't cope.
It is intended to provide no error on
the vessel's direction result. The
adjustment of this parameter is under
the "Other Ctrls Menu";
• Derivative value:
This value is intended for providing
stability to the system avoiding
"hunting". It is based in the variation
of the error, in this case, how fast the
boat is turning. This value will be zero
when the vessel is not turning, and
will oppose the to the turn movement
when it happens.
The adjustment of this parameter is
under the "Other Ctrls Menu".
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