舵

还不清楚船舵是如何断裂的。

It was not yet clear how the rudder had sheared off

没有真正的方向舵，所以只有在动力驱动的情况下才能操控船只。

There is no rudder as such , so the craft can be steered only when under power .

回舵！

Ease the helm !

迎风使舵！

Helm aweather !

不仅手中的桨丢了，连船舵也给水的无影无踪。

Not only was the oar3 lost , but also the ruder was carried away by the current .

X型尾舵潜艇操控与运动关系研究

Relation ship of maneuvering and motion for the submarine with X-rudder

利用Matlab仿真船舵角位置跟踪系统分析与修正

Analysis and compensation of helm angular position tracing system with Matlab

潜艇X形舵和十字形舵等效舵角研究

Study on the equivalent rudder angle between X type and cruciform rudders on submarine

关于PID自动舵神经网络控制的研究

Research on the Neural Network Control of PID Autopilot

X舵潜艇等效舵角转换装置设计与仿真分析

Design and stimulating analysis of the equivalent rudder angle transition device for submarine with X rudder

船舶自动舵灰色预测模型及其DSP实现技术研究

A Prediction Model of Ship Autopilot Based on the Grey Theory and Its Realization with DSP

针对PID自动舵鲁棒性差的问题，采用了模糊控制，提出一种智能积分型模糊PID自动舵。

Furthermore , to improve its robustness , fuzzy-PID autopilot with intelligent integrator is also presented .

运用Excel确定舵托支撑的平衡舵舵杆直径计算

Using Excel to caculate the diameter of balance rudder stock supported by the rudder carrier

人工神经网络和H∞优化控制用于航迹舵的实现研究

The Implementation Study of Artificial Neural Network ( ANN ) and the H Infinite ( HINF ) Controller Applying to a Track Autopilot

舵阻摇的效果对船舶水动力参数敏感，H∞控制器对模型不确定性具有良好的适应性。

Rudder roll damping is sensitive to hydrodynamic of ships . H_ ∞ control is very useful for this kind of model uncertainty .

在两种控制算法中，对舵角进行积分的船舶航向模糊PID自动舵超调较小，效果更为理想。

Furthermore , the fuzzy-PID autopilot , with integral item of rudder angle , shows smaller overshoot , and better performance .

本文设计了一种基于并联控制模式的舵阻摇H∞控制器。

In this paper , an H_ ∞ controller based on parallel control mode is designed to overcome the perturbation of ship dynamic parameters .

应用三维CAD建模技术、软件自动生成G代码和虚拟数控加工仿真技术，进行试验加工某一方向舵叶片前的准备工作。

Applying three-dimensional CAD model , G codes and virtual numeric control simulation technologies , we can make preparations of vanes ′ trial processing .

第三，研究多层前馈神经网络及相应的BP（ErrorBackwardPropagation误差反向传播）算法，设计基于模型残差的故障分类器，并通过其来完成全局舵面的故障检测与分类。

Thirdly , Multi-layer Feed-forward ANN and Error Backward Propagation ( BP ) algorithm are studied and are utilized as control surfaces ' failure detection and sortation .

本文基于PC／104开发了一种智能式航迹舵系统，主要说明了其总体设计思想及软硬件实现

Abstract : An intelligent track autopilot is developed based on PC / 104 in this paper , in which the system design and the structure of hardware and software are described

对此，在上述模糊自动舵中增加积分控制功能，提出了两种船舶航向模糊PID自动舵控制算法，分别对航向偏差和舵角进行积分。

Then , integral control , i.e. integrating course error and rudder angle , respectively , is fused into the above controller , and two kinds of fuzzy-PID autopilot are designed .

但是，由于影响电流舵DAC特性的因素很多，这给芯片的设计带来了一定的困难。

However , various factors influences the performance of the current-steering DAC , which makes the chip design difficult .

通过对温度码和二进制码这两种不同DAC结构的讨论，针对高速要求，将本次设计结构确定为温度计码电流舵DAC；

Based on the study of binary weighted DAC and thermometer-coded DAC , a thermometer-coded current-steering DAC is adopted .

随着空气密度的增加，气动舵面逐步介入控制系统，RCS随之逐步退出。

Along with the increase in air density , aero-surfaces gradually intervene the control system , and the RCS drops out of use .

结论适用于潜艇X形舵的初步设计以及操纵控制系统，解决了X形舵在潜艇上应用的一个实际问题。

The equivalent rudder angle can be used for primary design of the X rudder and the control system . It is helpful to the practical use of X type rudder on submarine .

通过与传统的PID舵对比可以发现滑模自动舵超调小，动态响应好，后期在航向误差很小时也能迅速消除稳态误差，调节时间短。

Compared with the traditional PID autopilot , sliding mode autopilot gets small overshoot , short settling time and good dynamic response , then eliminates the steady state error at late hour .

本文采用面元法理论以及计算流体力学软件FLUENT对螺旋桨与舵附推力鳍组合体系统进行了理论计算。

In this paper , panel method and CFD software FLUENT have been used for the calculation of the interaction of propeller and rudder with additional thrust fin .

并且采用C语言进行模块化设计，对于算法改进、功能添加十分便利，有利于理论向应用转化，为实现高性能的船舶自动舵样机打下基础。

In addition , the modular design makes the algorithm improvement , the functional addition convenient by C language , is beneficial to applying theory to engineering . This method is the base that prototype of high-performance ship autopilot is made .

电流舵DAC是最为常见的高速DAC结构。

The DAC architecture considered in this work is the current-steering DAC , which is the most commonly used architecture for high-speed applications .

结合CCS规范介绍了运用Excel确定舵托支撑的平衡舵舵杆直径的计算方法。

According to CCS rules , the paper presents a calculation method using Excel to decide the diameter of balance rudder stock supported by the rudder carrier .