Hamilton Jet HTX30 - Page 173

HTX30 Product Manual
Appendix
8-59
Gains group
Short name: Gains
Name
SCP text
Description
Min
Max
Default
Units
Access
Kp (surge)
Kp Su
Proportional gain, surge position.
0
65000
300
/1000
C
Kpr (surge)
KprSu
Proportional gain, surge velocity.
0
65000
20
*100
C
Kir (surge)
KirSu
Integral gain, surge velocity.
0
65000
30
*10
C
Kaw (surge)
KawSu
Anti-windup gain, surge.
0
65000
100
/1000
C
Kp (sway)
Kp Sw
Proportional gain, sway position.
0
65000
92
/1000
C
Kpr (sway)
KprSw
Proportional gain, sway velocity.
0
65000
7
*100
C
Kir (sway)
KirSw
Integral gain, sway velocity.
0
65000
7
*10
C
Kaw (sway)
KawSw
Anti-windup gain, sway.
0
65000
100
/1000
C
Kasd (sway active
damping)
KasdS
Proportional gain, sway active damping.
0
65000
0
/1000
C
Kp (yaw)
Kp Ya
Proportional gain, yaw angle.
0
65000
300
/1000
C
Kpr (yaw)
KprYa
Proportional gain, yaw rate.
0
65000
96
*100
C
Kir (yaw)
KirYa
Integral gain, yaw rate.
0
65000
540
*10
C
Kaw (yaw)
KawYa
Anti-windup gain, yaw.
0
65000
100
/1000
C
Velocity mode group
Short name: VMode
Name
SCP text
Description
Min
Max
Default
Units
Access
Maximum surge
velocity
VEnvU
Mouseboat maximum surge velocity.
50
5000
2000
mm/s
C
Maximum sway
velocity
VEnvV
Mouseboat maximum sway velocity.
50
5000
500
mm/s
C
Maximum rate of
turn
VEnvR
Mouseboat maximum rate of turn.
50
20000
7500
milli
degrees
/s
C
Filters group
Short name: Filtr
Name
SCP text
Description
Min
Max
Default
Units
Access
X position time
constant
X Tau
Filter time constant, X position.
10
10000
250
ms
C
Y position time
constant
Y Tau
Filter time constant, Y position.
10
10000
2400
ms
C
Heading time
constant
HeTau
Filter time constant, heading.
10
10000
250
ms
C
U velocity time
constant
U Tau
Filter time constant, U velocity.
10
10000
250
ms
C
V velocity time
constant
V Tau
Filter time constant, V velocity.
10
10000
1200
ms
C
Rate of turn time
constant
R Tau
Filter time constant, yaw rate.
10
10000
250
ms
C
Mouseboat surge
demand time
constant
SuTau
Filter time constant, Mouseboat surge.
0
10000
500
ms
C
Mouseboat sway
demand time
constant
SwTau
Filter time constant, Mouseboat sway.
0
10000
500
ms
C
Mouseboat yaw
demand time
constant
YwTau
Filter time constant, Mouseboat rotation.
0
10000
500
ms
C
Active sway
damping time
constant
AsTau
Filter time, active sway damping.
10
10000
1000
ms
C