文章根据船舶运动方程，应用现代控制理论的方法，推出自动舵pd参数的自适应算法，为计算机仿真提供了可能。
In this paper, the author reckons PD parameter's self-adaption calculation with modern control-theory by Marine motion equation. This provides possibility for simulating by computer.
自动舵是船舶的必需设备，目前广泛使用的有比例微分舵，比例积分微分舵及自适应舵。
The automatic rudder is an indispensable equipment of the ship. The proportional-differential rudder, proportional-differential-integrating rudder and adaptive rudder are widely used now.
自动舵是船舶的必需设备，目前广泛使用的有比例微分舵，比例积分微分舵及自适应舵。
The automatic rudder is an indispensable equipment of the ship. The proportional-differential rudder, proportional-differential-integrating rudder and adaptive rudder are widely used now.
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