It is becoming more complicated and more difficult . to ensure safety and raise economic it is necessary to adopt the new control theory , control strategy and technique 为保证安全，提高航行的经济性，对船舶的操纵性能提出了更高的要求，因而有必要采用新的控制理论和技术，研究性能更好的船舶操纵控制策略。
One pump powered by gas engine and multi - actuators is a popular model in construction machine field . the performance of construction machines suffers from their large inertia loads and multi - actuators seriously 工程机械本身一般有大小惯性执行器并存，工程机械的这种大惯性负载及多执行器系统对工程机械的操纵性能产生较大影响。
The reports that the studying methods with my studying are similar or near has not been found at home and abroad up to now . the main researching works in the paper are summarized as follows : 1 目前神经网络在船舶操纵性能的研究中已有一些报道，在船舶动力定位系统中应用的研究还很少，与本文相近或相似的研究内容目前在国内外还未见报道。
On the other hand , fish have drawn people " s attention because they have abilities of navigating in high speed with long distance , agilely maneuvering in limited space and accelerating or decelerating rapidly 另一方面，鱼类和海洋哺乳动物已越来越引起人们的兴趣，因为它们具有良好的推进性能和操纵性能，它们能够高速游动，并能随意控制姿态。
Submarine is one of the most important facilities in ocean exploitation and research . with the development of submarine it requires lighter , smaller fittings , and meanwhile must satisfy the maneuverability demand 潜器是海洋开发与研究的重要工具之一，它的发展要求其本身更加轻量化、小型化，同时还要满足其操纵性能的要求；全方向推进器便是基于上述要求应运而生。
The present results reveal that the hydrodynamic model and roll reduction technique developed here can be regard as an efficient tool for naval architects to analyze the ship maneuvering behavior with roll reduction by rudder control in waves at the preliminary design stage 本文所发展的数学模式与减摇方法可用于初步设计阶段，来评估船只在波浪中进行操舵减摇的操纵性能。
With these data , in terms of ship maneuverability , response equation of ship movement , wind and current math model , the paper carries out ship navigation track simulating and various parameter calculations . the paper is made up by the sixth chapter 有了这些数据之后，根据船舶的操纵性能和船舶运动响应方程以及风、流的数学模型，来进行船舶的航迹模拟和船舶在桥区航行时的各种参数计算。
By analyzing ship maneuvering motion , we can build ship maneuvering motion mathematic model and perform ship maneuvering motion simulation . thus not only ship maneuverability and running status can be predicted , but also port and channel design can be optimized 通过分析船舶操纵运动，建立船舶操纵运动数学模型并进一步研究船舶操纵运动模拟，不仅可以对船舶操纵性能、运行状态作出预报，还可对港口、航道设计提供指导。
But another question the control system brings is that the aircraft manipulation character does not meet the requirements . the aircraft needs one more control systems to make the manipulate character satisfy the character requirements . both control systems are called control and augmentation systems 高空高速飞机本身静稳定性能不足，加入增稳控制系统后虽然满足了稳定性的要求，但造成了操纵性能的不足，必须再加入一个增控回路来解决这个问题。
Chapter 8 simulates the ship maneuvering motion of turning and zigzag test and takes into account the effect of water depth on ship maneuverability by use of the maneuvering model group ( mmg ) of japan . the main aim is to satisfy the need such as developing the maneuvering simulator of freshwater , the dynamic demonstration of avoiding ship collisions 第8章选择日本mmg的操纵运动数学模型对船舶作回转运动、 z型操纵试验的情况进行了数值模拟，并着重考虑了航道水深对船舶操纵性能的影响问题，其目的上要是为了课题组今后进一步开发诸如内河船舶操纵模拟器、船舶避碰计算机动态演示的需要。
