基金项目：国家自然科学基金项目(60474014)
作者简介：卜仁祥(1973-),男,辽宁岫岩人,大连海事大学讲师,工学博士研究生,从事船舶运动控制研究.86-411-84729527,burenxiang@tom.com;
作者简介：刘正江(1959-),男,江苏如皋人,大连海事大学教授.86-411-84729777, liuzjj@online.ln.cn.导师
作者单位：卜仁祥（大连海事大学,航海学院,辽宁,大连,116026）
刘正江（大连海事大学,航海学院,辽宁,大连,116026）
李铁山（大连海事大学,航海学院,辽宁,大连,116026）
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