应用实时专家控制器设计一种新型的水面船舶航迹控制—自动操纵系统。该设计方案在保证控制系统稳定的前提下 ,由神经网络预报船舶的未来运动趋势 ,根据控制舵角与航迹偏差以及偏航和偏航角速度之间的关系 ,在航迹保持阶段 ,能够直接得到实现高精度航迹保持所需要的控制舵角 ,操舵次数少。仿真结果表明了新方法的有效性 ,另外 ,算法简单 ,易于在线实现 Design a New Type of Surface Ship Track Control - Automatic Control System with Real - time Expert Controller. Based on the relationship between the control rudder angle, the track deviation and the yaw rate and the yaw rate, the design scheme can predict the future movement trend of the ship by the neural network under the premise of ensuring the stability of the control system. During the track keeping phase, Get the control rudder angle required to achieve high-precision track keeping, fewer steering operations. Simulation results show the effectiveness of the new method. In addition, the algorithm is simple and easy to implement online