变负载下大功率船舶全回转推进器水动及液控仿真

何浩,舒永东,林勇刚,代富全,张举

hydrodynamic and hydraulic-control simulation of high-power ship azimuth thruster under variable load

Hao HE,Yongdong SHU,Yonggang LIN,Fuquan DAI,Ju ZHANG

表 4 临界增益法整定PID参数

Tab.4 Critical gain method for tuning PID parameters

控制器类型 Kp Ti Td P 0.50Kps — — PI 0.45Kps 0.83Ts — PID 0.60Kps 0.50Ts 0.125Ts