对主推进电机和舵电机的控制采用了双闭环结构，PI调节器由DSP软件实现。
Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software.
本文主要阐述了我院近几年来设计的多用途远洋救助拖船有关主推进装置、辅助设备、轴带消防泵及轴带发电机的选型。
The paper presents the design of main propulsion system for ocean-going salvage tug, also the adoption of the auxiliary machinery, shaft-driven pumps and shaft-driven generators.
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