Commission the system | 65
Transition speed
Refer previous description.
Rudder
This parameter determines the ratio between commanded rudder and the heading error.
The higher rudder value the more rudder is applied.
If the value is too small it will take a long time to compensate for a heading error, and
the autopilot will fail to keep a steady course.
If the value is set too high the overshoot will increase and the steering will be unstable.
Counter rudder
Counter rudder is the amount of rudder used to try to prevent the boat from yawing
around the set course. Higher counter rudder settings result in more rudder being
applied.
The best way of checking the value of the Counter rudder setting is when making turns.
The figures illustrate the effects of various Counter Rudder settings;
A: Counter rudder too low; overshoot response
B: Counter rudder too high; sluggish and creeping response
C: Correct setting or counter rudder; ideal response
ABC
Auto trim
This parameter defines how fast the autopilot shall correspond after having registered a
heading error.
The standard value is 40 seconds which should work well on most boats. Rule of thumb:
Set to same value (seconds) as the boat’s length in feet. On boats operating on VRF the
value should be set to 20 seconds.
Rate limit
Sets the maximum allowed rate of turn.
The value should be kept at 6.0°/second unless there is a need for more rapid response
in turns.
Minimum rudder
This parameter filters small rudder commands to prevent high rudder activity.
Some boats may have a tendency to not respond to small rudder commands around
the “course keeping” position because of a small rudder, a rudder deadband, whirls/
disturbance of the water-stream passing the rudder or it is a single nozzle water jet boat.
By increasing the Minimum rudder parameter you may improve the course keeping
performance on some boats. This will however increase the rudder activity.
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