DP動(dòng)力定位系統(tǒng)

1、DP/JC7t面板右上角顯示NOCOMMUNICATIONALARM原因1:正常啟動(dòng)或是重啟剛開始的時(shí)候，屬于正常狀況。解決方法：不要進(jìn)行任何操作，等待23分鐘后系統(tǒng)將運(yùn)行正常。原因2:系統(tǒng)中3SRealtimePLCSystemservicel序沒(méi)有正常運(yùn)行解決方法：按照以下步驟分布執(zhí)行（以DP為例）1.判斷并確認(rèn)是該軟件沒(méi)有運(yùn)行（步驟af）a.鼠標(biāo)左鍵點(diǎn)擊屏幕右上角PRAXI強(qiáng)標(biāo)96.0ma.DIAGRAMMAPPMSTRACKINGSpeed0.02kn3.69kn135.6°WIND20°37.84155'MOffset-3.29mCAPABILITYSEN

2、SORS0.04kn65.9°VESSELPOSITIONINZOOM1LOCKOUTSIMULATIONALARMSPRIORITYT3-BOWio-80-60-40.20%0DIAGNOSTICDPSYSTEM1LT：04-12-201211:18:41XPIEAXISAUTOMATIONTECHNOLOGYREADY0%2040601%POSITIONREFWEIGHING13C.000ACOUSTIC0.000LASER0.000TAUTWI0.000GPS2ICEIENSORS鼠標(biāo)左鍵點(diǎn)擊屏幕右上角PRAXIS圖標(biāo),跳轉(zhuǎn)至診斷界面STOPHORNACCEPTDAYjNIGH

3、TSTEERING1.6。o%2060STEERING0.7。eenKeyboardJoxlHEADING350.50CURRENTSETPOINT350.7。HEADINGROT0.07mROTMAX45.07mRUDDERLIMGAIN80.0%(AutoPilot)ALARM15.0。35.0。LATLONSTEPALARM20°37.83977,N109035.57868,£3m355080.0%5.0mSETNEWPOSITIONBEARINGGAIN,boardSettingsHelpCURRENTPOSITIONADJUSTRELATIVEROTATIONPO

4、INTC.O.R.FWDC.O.R.MIDC.O.R.AFTXg)24.00Y(m)0.00-27.80RUNNINGb.點(diǎn)擊屏幕右下角鍵盤圖標(biāo)調(diào)出屏幕鍵盤DIAGRAMMAP|:PMSSIMULATIONSENSORSDIMENSIONSTHRUSTERSCAPABILITYTRACKINGFUZZTCTRL2FUZZVCTRLPOSITIONREFSTEERPOINTSCONFIG30.00DP.SYSTEM1LT:04-12-201211:19:23AUTOMATIONTECHNOLOGYFUZZYCONTROLLERSSURGECONTROLLER(X)SWAYCONTROLLER(Y

5、)YAWCONTROLLER(Z)o-0.1-0.3MATRIXDisterror(m)Speed(kn)lntegra:ionGain2.610.000.00050.00aso0.00630Disterror(m)Speed(kn)|IntegrationGain0.970.030.00040.00400.02090jDisterror0Speed(7min)IntegrationGain0.200.000.000|4022010.015I655-0.6Speederror(kn)Accel(kn/s2)IntegrationGain0.000.0016.0030.000.

6、00050Speederror(kn)Accel(kn/s2)IntegrationGain0.00-0.001I5.0030.000.0007004-12-2012-0.5FUZZYCTRLX-DELTAERROR/TIMEINFUZZYCTRLX-FORCEVECTORFUZZYCTRLX-FORCEVECTOR(l-ACTION)b.AckSpeederror(7min)Accel(Vmin2)IntegrationGainFUZZYE0.000.00伯3200“I010。100FUZZYCTRLY-DEL.TAERROR/TIMEINFileKeyboardSettingsHelpta

7、b-0.6-0.3-lock04-12-2012bkspentshftHQQBQHHnshft1IIFUZZYCTR»Z-ERORINFUZZYCTRLZ-DELTAERROR/TIMEIN,|n|x|:nlk1、擊右下角鼠標(biāo)圖樣StopHomAlarmGroupGraphChannel0.604-12-20123RCEVECTOR3RCEVECTOR(l-ACTION)DiagnosticGeneralc.點(diǎn)擊屏幕鍵盤F4,選擇分組30SYSTEMDIAGNOSIT醛統(tǒng)診斷）DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSCAPA

8、BILITYTRACKINGFUZZYCTRL2FUZZYCTRLPOSITIONREFSTEERPOINTSTHRUSTERSCONFIGDP.SYSTEM1LT:04-12-201211:16:23AUTOMATIONTECHNOLOGYPosLog2345678c.GroupPagesTrendDescriptionTHRUSTERIO(HW)JOYSTICKROTKNOBIO(HW)POSITIONACTUAL/SETPOINTCURRENTSPEEDCURRENTDIRECTIONDPREPORTALARMSPos3334353637383940TrendReplayReplayRe

9、playReplayReplay點(diǎn)擊屏幕鍵盤F4,調(diào)出分組界面，選擇分組30.17181920212223242526272829Qo32SETTINGSCONTROLSTAN1CONTROLSTATION2CONTROLSYSTEMMODESSYSTEMDIAGNOSTICSMULATIONPENVIRONMEN14950516061626364ReplayReplayAckStopHornAlarmGroupGraphChannelDiagnosticDescriptionFUZZYCTRL-MANUALCTRLFUZZYCTRL-X(TREND)FUZZYCTRL-Y(TREND)FUZ

10、ZYCTRL-Z(TREND)T-ROTATIONTRENDT-SOGX/Y(TREND)T-DIFFX/Y(TREND)MRULIST-MRUTRIMj-PMS>OWERMANAGEMENT'RACKINGIOVXYREND-POSITIONERRORSENSORS1SENSORS2SENSORS3REFERENCEUSEDVESSELFORCESTHRUSTERS(SW)THRUSTERS(SWVIRTUAL)TESTTEST2-GPSDEVIATIONOREMOTEDATADIAGNOSTICSDIAGNOSTICSGenerald.檢查分組30SYSTEMDIAGNOSI

11、TICS統(tǒng)診斷）是否有報(bào)警。同時(shí)檢查Tag號(hào)：06500DPSERVER-LIFECHECKS10141DPSERVER-XP101CHECKSFROM113110142DPSERVER-XP101CHECKSTO113110143DPSERVER-COMMUNICATIONFAILURE06510DPSERVER2-LIFECHECKS06511DPSERVER2COMMUNICATIONFAILURE的狀態(tài)及其數(shù)值。正常情況為：06500,10141,10142,06510的數(shù)值在0-9999之間變化。同時(shí)10143,06511顯示為Normal（正常），且為黃色。故障情況為：（1） 06

12、500,10141,10142的數(shù)值為0保持不變，10143顯示為Alarm!（報(bào)警），且為紅色。06510的數(shù)值在0-9999之間變化，06511顯示Normal（正常），且為黃色?；蛘撸?） 06500,10141,10142的數(shù)值在0-9999之間變化，10143顯示為Normal（正常），且為黃色。06510的數(shù)值為0保持不變，06511顯示Alarm（報(bào)警），且為紅色。DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTERSCAPABILITYTRACKINGFUZZYCTRL2FUZZYCTRLPOSITIONREFSTEERPOINTSC

13、ONFIGGroupNr:030SYSTEMDIAGNOSTICSDP.SYSTEM1LT:04-10-201221:38:16AUTOMATIONTECHNOLOGYDTStatus01016510166d.檢查分組30是否有報(bào)警;同時(shí)檢查TagDescriptionValueUnitsLimits00003SYSTEM-MAINSERVERACTIVE00004SYSTEM-FIELDBUSDRIVERBOARDNOTFOUNDSYSTEM-POWERDISTRIBUTION/UPSFAILURESYSTEM-POWERSUPPLYEARTHFAULTTag:06500,10141,101

14、42,10143,06510,06511的數(shù)值及狀態(tài)指示。21133STATION3-JOYSTICKFAILURE21134STATION3-RATEOFTURNKNOBFAILUREUOUIJ.八I看16IIIII75YL/GeneralNormalAckStopHornGroupJGraph|ChannelDiagnostice.左鍵點(diǎn)擊屏幕鍵盤左下角Windows圖標(biāo)B，然后左鍵點(diǎn)擊系統(tǒng)右下角3SRealtimePLCSystemservi(0標(biāo)給,查看軟件是否已經(jīng)啟動(dòng)。TagGroupNr:030SYSTEMDIAGNOSTICSDescriptionValueUnitsLimits

15、DTStatusI00003SYSTEM-MAINSERVERACTIVE000004SYSTEM-FIELDBUSDRIVERBOARDNOTFOUND006500DPSERVER-LIFECHECKS0COUNT010141DPSERVER-XP101CHECKSFROM11310COUNT0Off10142DPSERVER-XP101CHECKSTO1131»1一I0COUNT0DIGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTERSCAPABILITYTRACKINGFUZZYCTRL2FUZZYCTRLPOSITIONREFSTEER

16、POINTSCONFIGDPSYSTEM1LT:04-10-201221:47:57MAUTOMATIONTECHNOLOGYe.點(diǎn)擊屏幕鍵盤Windows圖標(biāo)，然后點(diǎn)擊有下家3sRealtimePLCSystemservic.S欠件，椅杏該軟件品不經(jīng)0About.System.ExitIDATA(D:)NormalStopCycleResetWarmResetColdResetHardICAMClient0000StopSystemStartCycle.如果此圖右.下角所示：StartSystem黑色,通tem%詼但國(guó)盟表示該軟件沒(méi)有正精運(yùn)仃。放行后續(xù)步正迎行素統(tǒng)修拼。說(shuō)明010210200

17、00200102002201332013402011020122113321134?Start|3_7STATION1-XP116TFTNOTFOUNDFB2NOCOMMUNICATIONSTATION2-XP201IO-PROCNOTFOUNDSTATION2-XP202TFTNOTFOUNDSTATION2-JOYSTICKFAILURESTATION2-RATEOFTURNKNOBFAILURESTATION3-XP211IO-PROCNOTFOUNDSTATION3-XP212TFTNOTFOUNDSTATION3-JOYSTICKFAILURESTATION3-RATEOFTURNK

18、NOBFAILUREC:WINNTsystem32cm.I魄CAMClient2f.通過(guò)上述檢查，可以判定為3SRealtimePLCSystemservice軟件沒(méi)有正常運(yùn)行引起了NoCommunication報(bào)警。2.修復(fù)系統(tǒng)（步驟gt）g.回到DP操作界面，點(diǎn)擊屏幕右下角General按鈕，彈出對(duì)話框，選擇8Exit（退出）系統(tǒng)。DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTERSDP_SYSTEM11<PRAXISAUTOMATIONTECHNOLOGYCAPABILITYTRACKINGFUZZYCTRL2FUZZYCTRLPOSI

19、TIONREFSTEERPOINTSCONFIGLT:04-12-201213:01:26MTagDescription?ValueUnitsLimits?DTStatus0Skipped0Skipped00003SYSTEM-MAINSERVERACTIVE00004SYSTEM-FIELDBUSDRIVERBOARDNOTFOUND065001014110142101430651006511DPSERVER-LIFECHECKSDPSERVER-XP101CHECKSFR(DPSERVER-XP101CHECKSTODPSERVER-COMMUNICATIONIDPSERVER2-LIFE

20、CHECKSDPSERVER2-COMMUNICATlOh|wOn-ScreenKeyboardJnjxiFileKeyboardSettingsHelp10165SYSTEM-POWERDISTRIBUTION/UPSFAILURE00Normal10166SYSTEM-POWERSUPPLYEARTHFAULTGroupNr:030SYSTEMDIAGNOSTICSg,回到DP操作界面，左鍵選擇屏幕右下角General按鈕，彈出對(duì)話框，選擇8Exit（退出），退出DP系統(tǒng)。UIUZI5IAIIUNI-AMIIOIrIINUIrUUINU020000200102002201332013402

21、01102012FB2NOCOMMUNICATIONSTATION2-XP201IO-PROCNOTFOUNDSTATION2-XP202TFTNOTFOUNDSTATION2-JOYSTICKFAILURESTATION2-RATEOFTURNKNOBFAILURESTATION3-XP211IO-PROCNOTFOUNDSTATION3-XP212TFTNOTFOUNDM2CarouselOnk3Dimming'I'XI5DisplayContentsLogFile6DisplayGMTTime8Exit凈O。AckStopHornAlarmGroupJGraph|0Can

22、celChannelDiagnosticIGeneralh.彈出對(duì)話框Passward（密碼）UserName（用戶名）不填，Login（密碼）為數(shù)字0,點(diǎn)擊OK,退出系統(tǒng)。DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTERSDPSYSTEM1CAPABILITYTRACKINGFUZZYCTRL2FUZZYCTRLPOSITIONREFSTEERPOINTSCONFIGLT:04-12-201213:02:06MGroupNr:030SYSTEMDIAGNOSTICSPRAXISAUTOMATIONTECHNOLOGY00003000040650

23、01014110142101430651006511101651016601000010010100201003102331023401021Description?SYSTEM-MAINSERVERACTIVESYSTEM-FIELDBUSDRIVERBOARDNOTFOUNDDPSERVER-LIFECHECKSDPSERVER2-ValueUnitsDPSERVER2-LIFECHECKSDPSERVER-XP101CHECKSDPSERVER-XP101CHECKSTCDPSERVER-COMMUNICATIONSYSTEM-POWERDISTRIBUTION/UPSFAILUSYST

24、EM-POWERSUPPLYEARTHFAULTFB1NOCOMMUNICATIONDPJO-XP101IO-BOARD101NOTFOUNDDPJO-XP101IO-BOARD102NOTFOUNDDPJO-XP101IO-BOARD103NOTFOUNDSTATION1-JOYSTICKFAILURESTATION1-RATEOFTURNKNOBFAILURESTATION1-XP116TFTNOTFOUNDh.彈出對(duì)話框Passward（密附）填，Login1密居）為敖字201340201102012STATION2-RATEOFTURNKNOBFAILURESTATION3-XP211

25、IO-PROCNOTFOUNDSTATION3-XP212TFTNOTFOUNDLimitsDT0000000000000StatusSkippedSkippedOffNormalOffNormalOffNormalNormalNormalUserName（用戶名）不rmai注意：如果是JC的7,TFT面板出現(xiàn)NOCOMMUNICATION請(qǐng)多執(zhí)行以下步驟：(1)在DP操縱控制臺(tái)上選擇JC按鈕DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTTABLESJC.SYSTEMLT：04-10-20197.39:32MCAPABILITYMAPSCALEFU

26、ZZYCTRL2FUZZYCTRLPOSITIONREFSTEERPOINTSCONFIGY/1PI：AXISAUTOMATIONTECHNOLOGYFUZZYCONTROLLERSSURGE0.000.000.000.000.000.000.000.000.000.000.00-0.6Speederror(kn)0.0030.00田RAccel(kn/s2)-0.00830.00OJO0.00|Dimterror(m)16650.00|Speed(kn)0.10aso”一一一ation0,0000.00630JCI堡碑，n)0.0000IQAI-f*30.00,(ki.sju.usIyAS4

27、J0X)00Gwin50Integral.;GainDisterror(m)5940.0。Speed(kn)2-0.054Kntegratio曰-7).00010.02C一Gain|955.00Disterror(0)7.4弓Speed(7min)0.0022P!：nWgrati口10.01301C.015Gain65Speederror(7min0.00Accel(7min0.00j180200Integratir.i0.100Gai匚1000.000MATRIXX04-10-20121IfUZZYlCTRLX-EHROR.IN04-10-20z21IFLIZZYCTRLY-EP1'

28、/fCTRLzTeHRORIN-1一-一04-10-2012(1)在DP,操縱控制臺(tái)上選擇按鈿,待右上角顯示為JCSYSTEM的轉(zhuǎn)換成功。退出DP控制臺(tái)上的JC操作界面DIAGRAMMAPPMSSIMULATIONSENSORSDIMENSIONSTHRUSTTABLESCAPABILITYMAPSCALEFUZZTCTRL2FUZZYCTRLPOSITIONREFSTEERPOINTSCONFIG30.00JCSYSTEMLT:04-10-201223:40:08l4FPRAXISAUTOMATIONTECHNOLOGYFUZZYCONTROLLERSSURGE由R-DERMATRIX0.6

29、0.3DiSp0.1(2)退出DP控制臺(tái)上的JC操作界而。9CI、一I.,Speederror(kn)0.00"TooAccel(kn/s2)0.00130.00Integration0.000Gwin030GainSpeederror(kn)H00I|Accel(kn/s2)-0.00230.00Integration國(guó)000Gain70IGain04-10-2012Speederror(7min)0.00180Accel(Vmin2)0.24pooIntegration0.100Gain10065Gain04-10-20z204-10-2012FUZZYCT禮乂-ERRORINF

30、UZZYCTRLX-DELTAERROR/TIMI:INFUZZYCTRLX-FORCE:VECTORFUZZYCTRLX-FORCEVECTOR(l-ACTION)FUZZYCTftLY-ERRORINFUZZYCTRLY-DELTAERROR/TIMzINFUZZYCTRLY-FORCEVECTORFUZZYCTRLY-FORCEVECTOR(l-ACTION)IZZYCTRLZ-ERfiOfRINtFUZZYCTRLZ-DELTAERfOR/TIMI:INFUZZYCTRLZ-FORCE:VE(.TORFUZZYCTRLZ-FORCEVECOR(l-ACTION)-0.5-123:39:

31、2023:39:3023:39:4023:39:5023:40:0023:40:10t(hh:mm:ss)-0.5-0.5SkipPage/InhibitPage2CarouselOn3Dimming4一23:39:2023:39:3023:39:4023:39:5023:40:0023:40:1023:39:2023:31AckStopHomAlarmGroupt(hh:mm:ss)GraphChannelDiagnosticGenerali.系統(tǒng)退出后，進(jìn)入以下目錄：D:SoftwareSystemSetupIec1131DP,執(zhí)行DPpro軟件。ItDPFileEditViewFavor

32、itesFolders固DesktopE_jMyDocumentsE1JMyComputerffi5Y5TEM(C:)"DATA(D:)S匕jKIT田二)MyDocuments回RecycledSSoftware口PREETSCREENSJSystem田匕)BINS(QCodeSysSDATA0DIN386廠+DINPXA255NameAddress|D:SoftwareSystem5etupIecl131DP2,5DB,SYMS|DP0000002ar.cigDP0000002ar.ri電DP().proNEWTE5T).proDateMdtiified:11-Apr-lSize:

33、1.14MBi.系統(tǒng)退出后，進(jìn)入以卜目錄D:ScfDP,執(zhí)行I)P.pr。軟件。OSysConfig田二)System(old)王*RAMDI5K(T:)田3,ControlPanel田昌SharedDocuments+到MyNetworkPlaces/RecycleDin三目GoSize|TypeIDateModifiedJ1KBFileFolderFileFolderFileFolderDFRFilell-Jan-1208:03U-Jan-1208:03ll-Jan-1208:03U-Apr-1206:032511KBCIFilell-Apr-1206:03931KBRIFileU-Apr

34、-1205:591.163KBCoDeSys-Project12-Jan-1211:391.165KBCoDeSys-Project12-Jan-1211:411.169KBCoDeSys-Projectll-Apr-1206:0310.WZKB5DBFile11-Apr-lZ05:5910500KBSYMFilell-Apr-1205:59twareSystemSetupIecl131j.輸入密碼，進(jìn)入系統(tǒng)。（密碼由船長(zhǎng)和船東經(jīng)理保存）dStart|母QIC:WINNT57Stem32cm.JOn-ScreenKeyboardCoDeSys-DP.proS為版©e曇理23:16k.

35、進(jìn)入系統(tǒng)后，進(jìn)入Project下來(lái)菜單，執(zhí)行CleanalbMyDocumentsMyCoirouterMyNetworkPlacestPro把ctInsertExtrasOnlineWindowHi窗彥FilLoaddownoadinFormation:日02_DObjectBuildRebuildallCProjectdatabaseFOptions.CleanallaCoDeSy;-DP.pro*-SPHEADING(FB-ST)3pou5國(guó)口0BlHlaaTranslateintootherlanguagesDocument.-laixiip削兇HEADINGSETPOINTCALCU

36、LATIONFROM:一二”仁- icu-7"TFT- MIMIC- TRACK- WINDANDCURRENTCOMPENSATEP0FUNCTION_BLOCKSP-HEADINGk.進(jìn)入系統(tǒng)后，Project下拉菜單項(xiàng)。點(diǎn)擊執(zhí)行Cleanall選"Star"里口fflBl囿圖a曲曲a05060708aBl囿fflBlBl囿a09fflffl圖10BlaslL.:.-.-.-占OO&L.-.-.-曰.一.3-上FShowCrossReference.,:Check卜AddActionfUserGroupPasswords.Speed.Controlle

37、r(FB)VECTOR.SELECT(FB)DISPLAYTHRUSTER.ALLOCATIONPMSSIMULATIONDGPS.SIMULATION(FB)FORCE.SIMULATION(FB)GPS.SIMULATION(FB)GYRO.SIMULATION(FB)MRU.SIMULATION(FB)ROV-SIMULATION(FB)WIND.SIMULATION(FB)WriteFileTA(FB)ENVIRONMENTALCURRENTCALC(FB)ENVIRONMENT(FB)MIN_PWR_HEADING(FB)MARINEATAN2(FUN)Bearing(FUN)Cor

38、rectAnqleFUNjj|22|TRACK-RUN:BOOL；jlT國(guó)POU$|號(hào)Data.宣|Visua.|溫iReso.|0005000600070008000900WUU11001200V300140015001600l7001800190020ETiFn(MODE.CTRLORNOTMODE.CTRL_SVR2)ANDNOTMODE.FAIL)THENfTAKECURRENTHEADINGONMODECHANGE*)IFMODE.JSMORMODE.MODE.CHANGEOR(P0_CURRENTANDNOTPB_CURRENT_OLD)THENSP.HEADINGSHEADING

39、;ENDJFP0_CURRENT_OLD:=PB_CURRENT;JS/_/lzKU二八US(JS_VlzCIUHI3)<U,U1；IFMODE.JSAORMODE.APOSORMODE.APILOTTHEN(*ROTKNOBIFNOTJSZ.ZEROTHENSPREADING:HEADING；ENDJF(*FROMTFT*)IFABS(SP_TFT-SP_TFT_OLD)>0,001THENSPHEADING：=SPTFT；illLoadinglibrary'C:ProgramFile613sSoftwareCoDeSysV2.3LibranAstandard.lib,L

40、oadinglibrary'D:SoftwareSystemCodeSysPraxisLibsEXTMATH.LIB,Loadinglibrary'C:ProgramFiles13sSoftwareCoDeSysV2.3LibranAUtil.lib,Loadinglibrary'C:ProgramFilesCommonFileslCM-TargetsSlLib-NTRTlSYSLIBCALLBACKLIB'Loadinglibrary'C:ProgramFilesCommonFilesCAA-Targets3SILib_NTRTlSysLibTime.

41、Iib1彳IDeletesallcompileinformationandthedownloadinformation的C:WINNTs7Stem32cm.-IOn-ScreenKeyboard±rIonline|ovread-l.再執(zhí)行Rebuildall選項(xiàng)MyDocunents名CoDeSys-DP.pro*-SPHEADING(FB-ST)MyCoirouter%FileEdiProject裔曲和型質(zhì)0天二川InsertExtrasOnlineWindowFl1Rebuildalllelp,11x|-Iff>d國(guó)口01_卜日602_DObject.±布第/去5

42、A匯匯EA萬(wàn)匯匯匯匯K匯A-匯匯匯kEA萬(wàn)方6匯共匯A-匯匯匯匯EA萬(wàn)匯匯匯匯KtEA匯匯EA萬(wàn)匯匯匯匯立匯A-匯匯匯kEA萬(wàn)方匯kE匯A-匯匯匯力m引PrniprhJjM*akxaU1Loaddownloadinljirlkation：HEADINGSETPOINTCALCULATIONFROM:- MODECHANGE- ROTKNOB- 7"TFT1.再執(zhí)行區(qū)邁選項(xiàng)。,RSiemensImport_DMerge.CCompare.CPro把ctInfo.FGlobalSearch.FGlobalReplace.FViewInstance.FShowCallTreeFShowCr

43、ossReference.,LCheckAddActionUserGroupPasswords.Import.甲Q03白604H2IMODE回HEADINGMJSVECTORMIN_PWR:MINPWRHDG:SPTFTSP.TRACKTRACKRUN彳1白609Speed_Controller(FB)VECTOR.SELECT(FB)DISPLAYTHRUSTER.ALLOCATION,PMSSIMULATIONDGPS.SIMULATION(FB)FORCE.SIMULATION(FB)GPS.SIMULATION(FB)GYRO.SIMULATION(FB)MRU.SIMULATION(

44、FB)ROV.SIMULATION(FB)WIND.SIMULATION(FB)WriteFileTA(FB)ENVIRONMENTALCURRENTCALC(FB)ENVIRONMENT(FB)MIN.PWR.HEADING(FB)MARINEATAN2(FUN)Bearing(FUN).iBlMectAncilFUNlMODE;LREAL；ARRAY1.3OFLREAL；REAL；LREAL；LREAL；LREAL；BOOL；fRELATIVETOVESSEL*)IF(MODE.CTRLORNOTMODE.CTRL_SVR2)ANDNOTMODE.FAIL)THEN000500060007

45、000800090010UU1100120013001400750016oonoow00190020(*TAKECURRENTHEADINGONMODECHANGE*)IFMODE.JSMORMODE.MODE.CHANGEOR(P0_CURRENTANDNOTPB_CURRENT_OLD)THENSP.HEADINGSHEADING；ENDIFP0_CURRENT_OLD:=PB_CURRENT;JS/_/lzKU二八HS(JS_VlzCIUHI3)<U,U1；IFMODE.JSAORMODE.APOSORMODE.APILOTTHENrROTKNOB力IFNOTJSZ.ZEROTHE

46、NSPREADING二HEADING；ENDIF(*FROMTFT*)IFABS(SP_TFT-SP_TFT_OLD)>0,001THENSPHEADING：=SPTFT：±rLoadinglibrary'CAProgramFiles'3sSoftwareCoDeSysV2.3LibranAstandard.liblLoadingIibra'DASoftwarelSystemCodeSysPraxisLibsEXTMATH.LIB'Loadinglibra'C:ProgramFiles'3sSoftwareCoDeSysV2.3L

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