Some people try to use fuzzy logic controller autopilot to improve the control properties of the heading control and they got better results such as enhancing the system robust property and much rapid system response 本文的研究的目的是提出一种控制效能智能控制自动舵，其目标为改善基于经典控制理论的pid自动舵的控制效果。
The fuzzy autopilot control system is implemented easily , but the control effect will decrease greatly when the environment conditions are changed . so we have to adopt other methods to improve the performance of the fuzzy autopilot control system 虽然单一的模糊控制自动舵实现比较简单，但是当外界条件发生变化时，控制效果会变差，这使得我们要采用其他方法来提高模糊控制自动舵的性能。
When submarine curves close the water surface , the course is affected by the quasi white noise disturbances . the close water control structure is same with that in deep water . the simulations show that the control effects are close to the ideal situations 由于在近水面航行时，航向所受到的主要是接近于白噪声的干扰，所以采用了结构和水下相同的航向自动舵，由仿真曲线可看出控制效果比较理想。
In the last chapter , the submarine motion tendencies under first order and second order wave force actions are illustrated through theory analysis and simulations , which established the foundation for studying the design of autopilot control system under wave force disturbances 最后本文从理论、仿真两个方面分析和显示了艇体在一阶、二阶波浪力作用下的运动趋势，从而为研究潜艇近水面波浪力干扰下的潜艇自动舵设计奠定了基础。
However , pure fuzzy controller relies on the rules derived from past experience of experts or operators to realize fuzzy reasoning which are usually expressed in if - then sentences . this system controls just like a p - d controller . it cannot erase system steady - state derivation 在智能控制自动舵的研究当中，本文运用了模糊自整定pid参数的方法，在自动舵的设计方面作了一些有益的探索，并做了仿真研究，获得了理想的控制效果。
The physical meaning of the parameter is obvious . the effect of control is creditable , but the precision and adaptability are not so good . adaptive control does well in the precision and fuel efficiency , but the cost is high 常规pid舵是第一代自动舵，其算法简单、参数物理意义明显、运行可靠，但精度和适应性较差；随后出现的自适应舵在提高操纵控制精度，减少能耗方面得到了一定提高，但物理实现成本高，参数调整难度大，控制效果难以保证。
Abstract : the actual sea trial result of h robust autopilot tested on yangchenghu oil tanker is presented , which certified the autopilot can resist the disturbance of sea states with good control performance and has good robustness to model uncertainty caused by the change of surge speed etc 文摘:给出了h鲁棒自动舵在阳澄湖号油轮上实际海试的结果，证明了该自动舵能够抑制海况干扰，具有良好的控制性能，对航速变化等产生的船舶模型摄动，具有良好的鲁棒性能
Finally , the simulations of regulation control and trace control are carried out respectively . the simulations illustrate that the fuzzy autopilot control system has good control effect and fast response and small static error , if the parameters are adjusted properly 对于调节控制和跟踪控制，自动舵的控制效果和系统响应进行了仿真研究，其结果表明，在初始均衡好的情形下，模糊控制器控制参数如果调整合适，模糊控制自动舵有较好的控制效果，响应较快，静差比较小。
Later on the base of development of electronics and its application , pid steer appeared which integrated control technology and electronic parts . in the late 1960 ' s , adaptive theory and computer technology developed speedily , then adaptive steer came forth by using adaptive theory in shipping maneuvering . neither pid steer nor adaptive steer shares the character flaws , which results in unassuring effects 后来随着电子学和伺服机构理论的发展和应用，集控制技术和电子器件的发展成果于一体，出现了pid操舵仪； 20世纪60年代末，由于自适应理论和计算机技术得到了发展，将自适应理论引入船舶操纵成为可能，于是形成了自适应自动舵。
The approaches include the modeling , intelligent control and simulation for main diesel marine engine , the designing and development of a single - chip computer based synchronous - meter utilized in ship power station simulation of marine engine room simulator dms - 2000 , the software interface of simulation to the ship main engine remote control system aotochief - 4 and the hardware and software development for the ship autopilot control system 本文对于船舶柴油主机的建模及自动控制，混合智能控制算法及其仿真；船舶轮机仿真器中的基于单片机的船舶电站仿真并车同步表研制、船舶柴油主机遥控系统“ aotochief - 4 ”的仿真软件界面及船舶自动舵控制软硬件系统的研制进行了比较详细的讨论。
