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中文摘要：
为满足全任务航海模拟器的功能需要，采用Visual C＋＋重新进行设计，改进了原用C语言实现的船舶航迹自动舵．航迹保持算法采用间接式算法，超出偏差带时采用多模态控制，使船舶回到偏差带以内；航向保持采用常规PID控制算法．仿真结果表明，风力7级时，在超出偏差带或转向时船舶均能自动回到预定航线上，最大航迹偏差为2nmile．采用VC实现的航迹自动舵可满足航海模拟器的功能要求．
英文摘要：
To meet the function requirement of full mission navigation simulator, the track-keeping and display system for ships by Turbo C was redesigned and improved by using Visual C＋ ＋ . Multi-mode control was used to make the ship return back to the allowable track deviation band when the ship deviated from the deviation band. The course-keeping of ship motion control was carried out by PID control algorithm. Simulation results show that the ship can return back to the setting course line automatically when the ship is beyond the track deviation band or steers under the sea wind of Beaufort No. 7, and the maximal track deviation is 2 n mile. The track-keeping autopilot realized by VC can meet the requirements of navigation simulator.
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