But the conventional PID autopilot systems are sensitive to the high-frequency disturbances,easy to lead up operating rudder frequently,and lack of adapting to the ship dynamic property and the changes of sea environment.

• 传统PID 自动舵对高频干扰过于敏感，容易引起频繁操舵，缺乏对船舶动态特性及海况的适应能力。