First , the development of autopilot and neutral network are discussed , furthermore , the matlab6 . 1 is used to construct a athletic of submarine ' s mathematical model , this mathematical model construct a development environment of controller of submarine . sencond , in this development environment research into the neural network algorithm and genetic algorithm for the control of the autopilot 本文首先介绍了自动舵的发展和神经网络组成及功能，并利用matlab6 . 1语言构造一个船舶运动控制器的开发环境，然后在此环境中研究了神经网络控制算法和遗传算法在船舶航向自动舵上的应用。
Aiming at the control feature of large ship , the authors designed a 2 - rank derivative multi - step neural network predictive model and the algorithm of the large delay ship ' s course , and presented a fuzzy control autopilot scheme based on the model with rbf neural network and fcmac controller , it solved problems of model online identification and controller online design in traditional adaptive control , so that the high precision output follow - up control of large ship with large delay and uncertain nonlinear features can be realized 摘要针对大型船舶控制特性，设计了船舶航向的神经网络二阶导数多步预测模型及其辨识和预测算法，提出基于径向基函数神经网络多步预测模型和模糊小脑模型关节神经网络控制器的大时滞船舶航向模糊控制自动舵方案，解决传统自适应控制中模型的在线辨识和控制器的在线设计问题，以达到对具有大时滞、不确定非线性特性的大型船舶实现高精度输出跟踪控制。
Considering the shortcomings in the genetic algorithms , some improvements are proposed in order to elucidate its strong optimizing ability , genetic algorithms are used to optimize the pid parameters of ship autopilot . the comparison between the different simulation curves shows the validity of genetic algorithms in looking for the best parameters 本文首先用遗传算法来对船舶航向保持自动舵的pid控制参数进行在线优化，通过对用常规工程方法整定的pid控制和用遗传算法优化的pid控制的仿真曲线的比较，说明了遗传算法强的全局寻优能力。
The maneuvering of a ship along a proscribed course in restrict waters is important from operational , safety and environmental viewpoints . during the ship maneuvering , there are some characteristics of nonlinear , slow time varying and influence of complex disturbance . the pid autopilot 船舶航向自动控制系统亦称为自动舵，它是船舶系统中一个不可缺少的重要设备，从历史的角度来看自动舵的出现是减轻驾驶人员的工作强度，降低运输成本，提高运输的安全性和经济效益。
In the dissertation , the genetic algorithm is employed to combine with fuzzy control to design and implement the autopilot control system . the ga is used to optimize the parameters of fuzzy control system . the following simulations show that the fuzzy autopilot control system optimized by ga has higher control accuracy , better robustness and resistant disturbance capability 本文引入了遗传算法与模糊控制相结合的控制方法实现了潜艇自动舵系统的设计和实现，采用遗传算法优化控制参数后模糊控制系统与单一的模糊控制系统分别进行仿真，其结果表明，优化后的控制系统对于外界参数的改变能够达到控制的目的，提高控制的精度，基于模糊控制和遗传算法的自动舵显示了更好的鲁棒性和抗干扰能力。
