【摘要】 良好的航向操控对于应对船舶航行环境和突发情况具有现实意义。本文首先分析非线性船舶航向控制模型,在此基础上设计自抗扰控制器,并对其参数进行调整。最后与传统的PID控制器进行仿真对比,实验结果表明二阶自抗扰控制器能准确跟踪船舶,并且航向保持控制精度高。更多还原

【Abstract】 Good heading control had practical significance to deal with the environment and the emergency of the ship navigation. Firstly,This paper analyzed the nonlinear ship course control model. On this basis,design the Active Disturbance Rejection Controller,and adjust its parameters. Finally,do simulation experiment compared with the conventional PID controller. Experimental results show second-order Active Disturbance Rejection Controller can accurately track the ship,and the course maintaining high precision control.更多还原