摘要
根据PID自动舵和自适应操舵仪的控制优点,提出了船舶航向自适应舵的一种设计方法.给出了系统的结构,自适应PID操舵律的算法及船舶航向控制、舵令与舵角的编制方法.
Improves the design of ships auto Pilot on PID auto pilot and adaptive pilot. Gives the structure of the system, the designed calculation of auto adaptive pilot, course control and the making of helm orders and rudder angles.