5 . studied system identification methods using neural network , and set up models for low and high frequency moving of ships , in the same time the adaptive controllers of fuzzy neural network based on ga is also established . the simulation results showed the controllers have strong robust , good adaptability for environmental changing , reduced power consuming and improved the overall performance of ship ' s dp systems 研究了神经网络的辨识方法，对船舶低频运动和高频运动进行建模，一哈尔滨工程大学博士学位论文建立了基于遗传算法的模糊神经网络自适应控制器，仿真结果表明所提出的控制器鲁棒性强，对环境变化的适应能力强，降低了能耗，提高了船舶动力定位系统的总体性能。
The dynamic positioning technique has been developed for more than 30 years and has formed a high scientific industry that promotes the corresponding scientific researches abroad . in our country , the development of the dynamic positioning technique in most researching units is still in the theoretical or experimental research stage . it is only the group to which the author belongs that has finished the first internal dynamic positioning system that makes the dynamic positioning technique from theory to practice 在国外，动力定位技术已经发展了三十多年，形成了高科技的产业，促进了相应科学研究的发展；在国内大多数单位的动力定位技术研究尚处于理论或实验研究阶段，仅有作者所在的课题组于1997年完成了国内第一套装备实船的船舶动力定位系统，使得动力定位技术从理论研究走向了实用。
2 . to meet the demands of establishing a practical control system , this paper analyzed the main sensors " construction , performance , and work theory in a dynamic positioning system , discussed the output format of the sensors " signals and the feature of the signals " noise , introduced the common thrusters , and established the thruster ' s mathematics model 2 )为满足建立实际控制系统的需要，分析了动力定位系统主要传感器的构成、性能和工作原理，讨论了传感器信号的输出形式及信号噪声的特点，介绍了常用推进器，建立了推进器数学模型。
This paper is the theoretical summary of the development around the dynamic positioning system by the writer , which includes several aspects of the studies as follows , 1 . in allusion to the feature of zero - speed of the ship in positioning control process , the dynamic mathematics model of the ship ' s movement has been established , which fits to the dynamic positioning , and the mathematics model of the environment of sea and ocean which disturbs the ship in dynamic positioning , which has founded the base of further study 本文是作者以rov工作母船为背景，围绕动力定位系统的开发工作所做的理论研究工作，主要包括以下几个方面的研究工作： 1 )针对处于定位控制的船舶工作在零航速附近的特点，建立了适合于船舶动力定位系统研究用的船舶低频运动模型，为满足控制器设计的需要，建立了船舶高频运动模型和海洋环境作用模型，为以后的分析奠定了基础。
Modularization methods are used to establish the mathematical models and simulation program for ship ' s dp systems . it included ship ' s moving models of low frequency moving and high frequency moving , thruster ' s models and environmental mathematical models ( wind , wave and current ) . the models have been proved to be correct by simulation method 利用模块化思想研究了船舶动力定位系统的数学模型、并且建立了仿真程序，包括船舶低频运动模型、高频运动模型、推力器模型和环境(风、海浪和海流)数学模型，通过仿真实验验证了模型的正确性。
Using neural network to form system models , filtering has been studied in the paper , and neuro - fuzzy with genetic algorithms ( ga ) to establish adaptive controllers for dp systems has also been studied in the paper . now the studying of ship operating performance has some reports using neural network , but the study is only a little on neural network applying to dp systems 本文是针对实际工程项目提出的需求进行的研究，属该领域前沿研究方向之一，具体是针对852潜器工作母船的动力定位系统进行神经网络建模、滤波及用遗传算法进行优化的模糊神经网络自适应控制器的研究。
