Autopilots

Autopilot SIMRAD ROBERTSON AP9 MK3

The Simrad AP9 MK3 Autopilot is suitable for a wide range of vessels, tested and approved according to the latest IMO resolution. The AP9 MK3 autopilot is recognized as the most flexible and adaptable autopilot on the market place.

The list below highlights a few of the features available in this sophisticated autopilot:

  • Excellent steering performance
  • Two complete sets of pre-programmable steering parameters
  • Simple operation by dedicated push-buttons
  • Any combination of dual compass input
  • Interface to virtually any type of steering gear
  • Combined steering and navigation
  • Thruster control

As a retrofit model, the AP9 MK3 should be a first choice because of its ability to interface to almost any magnetic or gyrocompass, steering gear and navigation receiver. The possibility of adding a full function second station further emphasizes the capabilities built into AP9 MK3 autopilot system.

The AP9 MK3 has been designed to produce very accurate steering under autopilot control. The autopilot has been programmed to learn how the rudder responds to commands. This both reduces rudder activity and ensures that the rudder is positioned exactly as required, so eliminating rudder overshoot. It also compensates for wear and play in the steering gear, which can be of particular importance when using AP9 MK3 as a retrofit autopilot. Precise course keeping is guaranteed by the ability to set all parameters on the AP9 MK3 individually with a high level of fine tuning. Special rate of turn functions ensure that all vessels, irrespective for their individual steering characteristics can achieve smooth course changes.

The combination of touch buttons, LCD displays and the advanced electronic programming produces efficient operation. All mode selection and steering parameter settings are made using touch buttons and instruction is confirmed on the display. Course changes can be made by the traditional rotary course selector or using 2 push buttons. These produce an exact 1° course change (port/stbd). Vessel heading information is shown digitally, deviation from set course and confirmation of rudder commands are also displayed.

As an optional feature, the AP9 MK3 can be configured to control a bow thruster. Rudders are inefficient at the slow speeds often required by fishing boats, dredgers and survey vessels. A vessel can, however, maintain an accurate heading by automatic control of a bow thruster through the AP9 MK3 autopilot.

The AP9 MK3 can accept information from navigation receivers and plotters to combine steering and validation. In practical terms the autopilot uses constantly updated information to steer the vessel along a predetermined track. The autopilot maintains a straight line between waypoints, reducing or eliminating Cross track error (XTE), and reducing both time and fuel. Ships having navigation equipment with the ability to plan long distance routes (ECDIS) will benefit from fully automatic sailing.

Specification:

Steering System Types: Hydraulic, solenenoid control
Mains Voltage: 24 VDC
Power Consumption: dependent of system configuration
Protection:

Control unit:

Distribution unit:

Other units:

IP44

IP22

IP56
Rudder unit: Solid state with adaptive rudder loop
Interface: NMEA-0183
Heading sensors:

Standard:

Options:

Magnetic compass course detector

Gyrocompass interface

Fluxgate compass (sin/cos)
Alarms: Audible and visual, ready for external
Language selection: English, French, Spanish, Norwegian
Temperature:

Operating:

Rudder feedback and Course detector

Storage:

0 – 55°C

-10 – +55°C

-30 – +80°C
Auxiliary equipment:

NFU and Follow-up levers with mode selection

Multifunction handheld remote

Rudder angle indicator
Control Unit:
Connections: 5 ea AMP-type
Displays: Backlit LCD Course dsplay and bargraph

Backlit LCD Information display
Weight: 3 kg
Distribution Unit:
Mains voltage: 24 VDC
Steering gear interface:

D90

D91

D92

D93

Optional:

single 24-40 VDC 3 Amp solid state

single 110 VDC 1 Amp solid state

single 110/220 VDC 1 Amp solid state

dual +/-10 V or 4-20 mA

single +/-10 V or 4-20 mA isolated analogue output
Weight: 4.5 kg
Dimensions: 300 x 320 x 105 mm

 

 

Navitron NT888G

Designed and developed by Navitron Systems Ltd for professional use on Magnetic and/or Gyro based vessels of all types – including High Speed Craft (HSC) – to approximately 3000 gross tones, the Navitron NT888G is a technologically advanced and powerfully equipped Autopilot which is clearly displayed and simple to operate.

Equally at home in new build and retrofit applications over an exceptionally wide range (fishing vessels, tugs, dredgers, ferries, coasters, survey and support units etc.) the NT888G Autopilot offers traditional Navitron reliability reinforced by Adaptive control technology. The adaptive function automatically monitors and self tunes the Autopilot parameters to provide optimum steering performance whether operating on a fishing vessel in a low speed work mode or on a high speed passenger ferry underway at 50 knots.

With a standard scope of supply comprising NT888G Control Unit suitable for foot bracket or panel mounting, robust Rudder Reference Unit and central Distribution Unit, the Autopilot System is immediately compatible with a wide range of vessel steering configurations including single and dual solenoid systems and voltage (±10Vdc) or current driven (4-20mA) Steering Amplifiers.

Up to a maximum of 3 Control Units may be installed per system and each Control Unit is equally equipped with comprehensive displays of Actual Operating Mode, Heading, Rudder Angle, Rate of Turn and Speed Data which is enhanced by Track Steering graphics when the Track Mode is engaged.

The display mode itself (light characters on a dark background or vice versa) is also installation selectable with operator adjustable red backlight illumination to suit individual preference.

Track Mode operation provides single or multi waypoint steering performance based on data received from a proprietary ECDIS/Plotter including – when used in conjunction with an Approved ECDIS – remotely instructed constant radius turns etc.

Other standard features provide “Next Course”, “U Turn” and permanent Heading changes in 1°/ 5°/10° steps etc.

Standard outputs produce NMEA, Furuno and Step by Step heading data for Radar stabilisation etc. and optional equipment includes Power Steer Controls, Analogue / Digital Heading Repeaters and Rudder Indicators.

Specification:

Supply Voltage:
11-40 VDC
Power Consumption:
Operation
Illumination Max
10 W
2 W
Mag Heading Input Port:
Navitron HSC etc.: Coil Type HSC 1 or HSC 2
Resolution: 0,25°
Gyro / Mag heading Input Ports (2 Channels):
Mag NMEA 0183: XX HDM
XX HDG
XX HCC
XX HDT
Gyro NMEA 0183: XX HDT
XX HDM
XX HDG
XX HCC
Baud rate: 4800 / 38400 selectable
Resolution: 0,1°
Follow Up Rate (minimum): 30°/Sec
NMEA Speed or Pulse Input Data:
SOG: $XX VBW
$XX VTG
STW: $XX VBW
$XX VHW
200/400 ppNm: 5-24Vp/p (STW in only)
Draft Input Data:
Analogue: 4 – 20mA
Track Steer Data Input Ports (TCS):
NMEA 0183 Track Data from Track Control System (Priority as shown): $XX HTC
$XX APB
$XX HSC
NMEA 0183 Heading Data output (Isolated RS422):
Update Rate (Channel 1): Selectable @ 1Hz, 10Hz, 20Hz, 40Hz or 50Hz
Sentence Types @ 1Hz:
Mag
Gyro
$HCHDM, $HCHDG, $APHDM, $APHDG
$HEHDT, $AGHDT, $HETHS, $AGTHS
Sentence Types @ 10Hz:
Mag
Gyro
$HCHDM (5Hz), $HCHDG
$HEHDT, $HETHS
Sentence Types @ 20Hz:
Mag
Gyro
$HCHDM
$HEHDT
Sentence Types @ 40Hz:
Mag
Gyro
$HCHDG
$HEHDT
Sentence Types @ 50Hz:
Mag
Gyro
$HCHDG
$HETHS
Resolution: 0,1°
Sentence Types @ 10Hz (Channel 2):
Mag
Gyro
$APROR, $APTRC
$AGROR, $AGTRC
Autopilot Status Data @ 1Hz:
Mag
Gyro
$APRSA, $APHTD
$AGRSA, $AGHTD
Furuno Heading Data:
Update Rate: 5 Hz or 40 Hz
Resolution: 0,166° or 0,1°
Signal Amplitude: Isolated 5Vdc (RS422 / 485)
Output: 20mA Max
Step by Step Heading Data:
Steps per Degree: Selectable @ 3, 6, 12 or 14
Signal Amplitude: 5 VDC
Maximum Rate: Selectable @ 8, 16 or 24°/Sec
Z out: 470R
Analogue outputs:
Dual 4 – 20mA: Max Voltage / Load Res,. 20Vdc / 1K
Dual Solid State Solenoid Switching:
Polarity: +VE/-VE
Max Rating: 5A @ 11 – 110VDC Max
Compass Safe Distance:
Control Unit
Distribution Unit
0,5 m
1,5 m
Operating Temperature: -20° to +60°C
System Alarms: Main Power fail
Back Up Power Fail
Heading Data Fail
Track Data Fail
Steering Fail
Dist Unit Fail
Rudder Ref Unit Fail
Limit Switch Status
CCA Data Fail
Watch Alarm Timeout
OHA Limit
CCA Limit
Course Change
Track Heading Change
Dodge Limit
Custom Limit
Remote Control Engaged
Control Unit Fail
Dimensions:
Control Unit
Dist Unit
204 × 132 × 48,4 mm
300 × 300 × 120 mm
Weight:
Control Unit
Dist Unit
1,8 kg
9,5 kg

 

Navitron NT921G

Purpose designed by Navitron Systems Limited for professional use on Magnetic and/or Gyro based commercial vessels of all types to approximately 2000 gross registered tonnes, the Navitron NT921G is a powerfully equipped and technologically advanced Autopilot which remains simple to operate.

Equally at home in new build and retrofit applications over an exceptionally wide range (fishing vessels, tugs, dredgers, ferries, coasters, survey and support units etc.) the NT921G Autopilot offers traditional Navitron performance and reliability reinforced by RMRS type approval to IMO and ISO standards.

Comprehensively intelligent, standard features of the NT921G Control Unit include a built in Radio Navigator interface, Dual Mag and Gyro Heading Inputs, Heading Outputs for Radar Stabilisation/Nav Computer use etc, fully Automatic Stability Compensation to accommodate Two Speed Rudder Systems and programmable Rate Of Turn.

  • Full P.I.D Intelligence.
  • Servo drive Heading Repeater (Standby mode).
  • AutoTrim (Automatic Permanent Helm).
  • Digital Heading and Cross Track Error display.
  • Bargraph and digital Rudder Angle display.
  • Operator variable control panel illumination.
  • 11 – 40Vdc Power Supply compatible.
  • Solid State Output stages (5A max).
  • Fully programmable installation parameters.

Specification:

Supply Voltage Range:
11-40 VDC
Power Consumption (@24Vdc):
Operation
Illumination Max
2.5 W
8.1 W
Mag Heading Input Ports:
Navitron Heading Sensor Coil mounted above/below Existing Mag Compass:
Coil type HSC1 or HSC2
Resolution: 0.25°
NMEA 0183 Heading Sentence from Electronic Compass (Priority as shown): XX HDM, XX HDG, XX HCC, XX HDT
Resolution: 0.1°
Gyro Heading Input Ports:
Isolated 1:1 Synchro available in Gyro: 400Hz Excitation from Autopilot
Resolution: 0.25°
NMEA 0183 Heading Sentence from Gyro (Priority as shown): XX HDT ,XX HDM, XX HDG, XX HCC
Resolution: 0.1°
Follow Up Rate (Minimum): 30° / Sec
Cross Track Error Signal Input (GPS etc):
NMEA 0183 Sentence types XX APA, XX APB, XX RMB, XX XTE
NMEA 0180: (CTE only)
Operating Temperature Range: -20° to +60°C
NMEA 0183 (Isolated RS422) output:
Update Rate: Selectable @ 1Hz, 11Hz or 22Hz
Sentence types @1Hz:
Mag
Gyro
HCHCC, HCHDG , APHCC, APHDG
HEHDT, AGHDT
Sentence types @11Hz:
Mag
Gyro
HCHDM, HCHDG
HEHDT, ADHDT
Sentence types @22Hz:
Mag
Gyro
HCHDM
HEHDT
Resolution: 0.1°
Furuno Format output:
Update Rate: Selectable @ 5Hz or 40Hz
Resolution: Selectable @ 0.166° or 0.1°
Signal Amplitude: Selectable @ 5VDC or 12VDC
Step by Step:
Steps per Degree: Selectable @ 3, 6,12 or 24
Signal Amplitude: 5 VDC
Solenoid Switching:
Polarity: Selectable Common +VE/-VE
Max Rating: 5A @ 40VDC
Panel Alarms: Power Fail
Steering System Fail
Heading Input Fail
Data Input Fail
Off Course
Remote Engaged
Alarm Test Facility

 

 

Navitron NT991G MK2

Designed and developed by Navitron Systems Ltd for commercially operated ocean going vessels of all types from typically 1800 gross registered tones upwards, the Navitron NT991G MK2 Autopilot is fully type approved to latest IMO and ISO standards.

Available in various system configurations the NT991G MK2 can be supplied for immediate compatibility with most gyro compass and steering system types rendering it an extremely cost effective solution for new build and retrofit installations. Additionally, the NT991G MK2 Autopilot features automatic Waypoint Steering based on “Heading to Steer” serial data received from proprietary Track Plotters/ECDIS systems etc. ($HTC, $HSC, $APB sentences).

Comprehensively intelligent, other standard features include Dual Mag and Gyro Heading Inputs, serial data outputs for Radar Stabilisation / Nav Computer / VDR use etc, fully Automatic Stability Compensation to accommodate Two Speed Rudder Systems and programmable Rate of Turn in degrees per minute.

Simple to operate via a traditional and clearly marked rotary Course Setter, the NT991G MK2 is immediately compatible with existing Navitron equipment including Watch Alarms, Heading Repeaters, Rudder Angle Indicators and Power Steer Controls.

  • Full P.I.D Intelligence.
  • Servo Drive Heading Repeater (Standby mode).
  • AutoTrim (Automatic Permanent Helm).
  • Digital Heading and ROT data display.
  • Bargraph and digital Rudder Angle display.
  • Operator variable control panel illumination.
  • 11 – 40Vdc Power Supply compatible.
  • Solid State Output stages ( 11 – 40 Vdc / 5A max.)
  • Fully programmable installation parameters.

Specification:

Supply Voltage:
11-40 V DC
Power Consumption (@24VDC):
Operating

Illumination Max
2.5 W
8.1 W
Mag Heading Input Ports:
Navitron Heading Sensor Coil mounted above/below Existing Mag Compass: Coil type HSC1 or HSC2
Resolution: 0.25°
NMEA 0183 Heading Sentence from Electronic Compass (Priority as shown): XX HDM
XX HDG
XX HCC
XX HDT
Resolution: 0.1°
Gyro Heading Input Ports:
Isolated 1:1 Synchro: 400Hz Excitation from Autopilot
Resolution: 0.25°
NMEA 0183 Heading Sentence from Gyro (Priority as shown): XX HDT
XX HDM
XX HDG
XX HCC
Resolution: 0.1°
Track Data: XXHTC, XXHSC, XXAPB
Follow Up Rate (Minimum): 30°/Sec
Output NMEA 0183 (Isolated RS422):
Update Rate: Selectable @ 1Hz, 10Hz or 20Hz
Heading Sentence types @ 1Hz:
Mag Compass
Gyro
HCHCC, HCHDG, APHCC, APHDG
HEHDT, AGHDT
Heading Sentence types @ 10Hz:
Mag Compass
Gyro
HCHDM (5Hz), HCHDG
HEHDT, ADHDT (5 Hz)
Heading Sentence types @ 20Hz:
Mag Compass
Gyro
HCHDM
HEHDT
Resolution: 0.1°
Autopilot Status Data @ 1Hz:
Mag Compass
Gyro
APRSA, APHTD
AGRSA, AGHTD
Furuno Format:
Update Rate: Selectable @ 5Hz or 40Hz
Resolution: Selectable @ 0.166° or 0.1°
Signal Amplitude: 5VDC or 12VDC
Step by Step:
Steps per Degree: 3, 6,12 or 24
Signal Amplitude: 5 VDC
Navitron Serial Data To Navitron Digital Repeaters Etc:
Polarity: +VE/-VE
Max Rating: 5A @ 40VDC
Compass Safe Distance: 0.6 m
Operating Temperature: -20° to +60°C
Panel Alarms: Power fail
Steering System Fail
Heading Input Fail
Alarm Test facility
Off Course
Rudder Limit
Turn Rate Limit
Remote Engaged
Operator Controls: Yaw
Rudder
Counter Rudder
Rudder Limit
Turn Rate
Illumination
Mode Switch
Off Course Alarm
Gyro/Mag Selector
Auto Trim
Control Unit dimensions: 297 × 176 × 110 mm
Control Unit weight: 3.3 kg

 

 

Yokogawa PT500

The PT500 Series autopilot conforms to the technical requirements for the performance It is available in two versions. The PT500A – Adaptive and the PT500D – Digital Autopilot, which differ in the respect of the method of auto steering. You can freely select a suitable model and configure the optimum system for the type of vessel concerned.

The Steering Stand design is suitable for standing or sitting positions based on the ergonomic principles of height (1124 mm). A separate unit is used for each purpose allowing for excellent functional expandability and operability. However, all components within the stand can easily be incorporated into a panel and cockpit bridge console due to their compact design which is about 80% smaller when compared with our previous models.

In addition to the independent follow-up circuit, the automatic and hand steering control systems are also independent of each other. The function keys are easy to use and understand with pictorial characters for every function to help reduce the possibility of an incorrect/accidental command.

Configuration of Autopilot System:

The autopilot system is configured with the following basic components.
1) Control Stand
consists of the following units, which are also adequate to the panel-mount.
– Auto unit
– Annunciator unit
– Hand steering unit
– Switch units
2) Control Power Supply Box
3) “м”-Transmitters
4) Actuators (Supplied and handled by the steering gear manufacturer)

System Configuration of PT500

Control Methods:

Control Methods

Autopilot control methods are categorized as follow up (FU) control and the non-follow-up (NFU) control.

  • Follow up (FU) control
    This is servo control which drives the rudder until the command angle of the autopilot is equals to the feedback angle from the steering gear. FU control is divided into automatic steering (AUTO) mode, manual steering (HAND) mode, remote control (RC) mode, and NAVI mode, which is especially provided for track control. These modes can be selected with the MODE switch.
  • Non-follow-up (NFU) control
    This is open loop control and it is occasionally used in emergencies. It directly drives the actuators of the steering gear. This control is well known as emergency steering and selectable when SYSTEM switch is in the NFU position.

Steering Modes:

  • NAVI mode (FU Steering)
    This mode enables track control. Interface with INS equipment such as ECDIS is required.
  • AUTO mode (FU Steering)
    This mode automatically keeps the ship’s heading to a preset course. A heading reference signal from a gyrocompass is required.
  • HAND mode (FU Steering)
    This mode manually controls ship’s heading from the steering wheel on the front of control stand. Number of potentiometers mechanized in the steering wheel can be provided in coincidence with the number of steering control chains.
  • RC mode (FU Steering)
    This mode manually controls the ship’s heading, and the control can be done away from the control stand. A dial remote controller or the like is required.
  • NFU steering
    This mode directly drives the actuators of the steering gear. The rudder is driven when the lever switch is moved to port or starboard, and stops moving when the lever switch is in neutral.

Panel Arrangement of PM208 Control Stand

Explanation of Units:

  • PB343 Auto-steering Unit (Adaptive auto unit),
    PB344 Auto-steering Unit (PID auto unit)

These units are used in AUTO mode. The AUTO mode contains following controls:
– Adaptive control (PB343), and
– PID control (PB344).
Each of the above models are customized to suite each vessel’s specifications.

  • PB345 Auto-steering Unit (PID auto unit : Optional)

This unit is the same as PB344 but is designed for longitudinal mounting.

  • PB335 Hand-steering Unit

This unit uses hand steering in HAND mode. Steering angle and direction indicators are positioned alongside the wheel.

  • PT161 Dial Steering Unit (Optional)

The unit is remote controller used in RC mode.

  • MKR051 Steering Repeater Compass

This unit is a ship’s heading repeater for use by the helmsman, and dimming control is available. This unit is suitable for panel-mounting or wall-mounting.

  • PH614 Annunciator Unit

This unit displays the operating status of the autopilot and issues visible and audible alarms when a failure occurs. Repertoire of display is provided by accordance with the specification requirements of the autopilot.

  • PH718 Switch Unit (SYSTEM switch)

This unit consists of two switches arranged on a single panel. The first switch selects follow up control chains (FU1 or FU2) or non-follow-up (NFU) control chains to be used, and the second switch is on the non-follow-up (NFU) lever. The NFU lever is functional when NFU control is selected.

  • RH720 Switch Unit (MODE switch)

This unit is the steering mode selector. This unit is provided in accordance with the specifications of the autopilot.

  • PH721 Switch Unit

The unit is used when two auto-steering units are employed. There are two types of switches as follows depending on the system.
– ADAP/PID switch
– PID1/PID2 switch

Specification:

Power:
Main Power: 220/380/440AC ±20%, 50/60Hz ±1 or 3 Phase 700 VA
Enunciator:: 24VDC
Input Signal:
Speed Signal PT500A for Adaptive Control & PT500D for the lower speed band control (optional)
Pulse signal: 200PPNM
Output Circuit: Photo Coupler 5VDC @ 2mA
Gyrocompass Heading Signal:
Serial Signal: NMEA-0183 ASYNC Serial Data
Baud Rate: 1200/2400/4800/9600
Output Interval: 100ms ~ 20s (100ms Interval)
Data Format: Start 1 bit, Data 7/8 bits, Stop Ѕ bits, Parity none/odd/even
Header: 5 ACSII Letter
Position data: Set data based on the location of commas.
Checksum: Yes or No
Output Signal:
Course deviation/rudder angle/rate of turn steering mode signal
Serial Signal: NMEA-0183 ASYNC Serial Data
External Devices: INS, ECDIS
Baud Rate: 2400/4800
Output Interval: 1 Second
Data Form: Start 1 bit, Data 8 bit, Stop 2 bits, Parity none
Output Circuit: EIA RS422A
Checksum: Checksum is the exclusive – OR between “$” and before the “*”/ The hex value of the result are converted to ASCII characters.
Analog rudder angle signal
External Device: Courser Recorder
Signal Level: 0 ~ 5VDC
Analog course Deviation Signal
Signal Level: 0 ~ 5VDC
Ripple Level: 5mVpp
Accuracy of output voltage: ±5%
No Voltage Alarm Contact Signal
Contact Rating: 125VAC @ 1Amp
System Failure Alarm Contact Signal
Contact Rating: 125VAC @ 1Amp
Performance Specification
Accuracy of course keeping: < ±1°
Withstanding Voltage: 1500VAC for 1 Minute
Insulation resistance: > 10Ohms
Power Value: > 500VA
Environmental Conditions
Voltage: 20~30VDC
Temperature: 0~55°C
Humidity: 0~95% RH
Vibration:
2.0~13.2Hz
13.2~100Hz
2 mm
0.75 mm
Shock: 6 Direction, 20G, 10 mseconds
Inclination: ± 22.5°
Swaying: ± 22.5°
With standing water: IP55 (Front Panel)