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中文摘要：
为实现船舶在港内的自动掉头,进一步完善包含风浪干扰的低速、浅水、非线性船舶运动数学模型,基于闭环增益成形算法设计简捷鲁棒控制器.用S函数建立船舶运动数学模型,并在MATLAB/Simulink仿真环境中进行系统仿真实验.在考虑港内掉头区域限制后,给出船舶在浅水、低速条件自动掉头的仿真结果.仿真结果表明,在5级风以内,所给船舶能在3倍船长（500 m左右）的区域内以低速实现港内的自动掉头操纵,对相关船舶的自动掉头控制具有一定的参考价值.
英文摘要：
In order to realize automatic in-harbor turning around of vessels,the nonlinear low speed and shallow wa ter mathematical model of the ship motion with the wind and wave disturbances is improved and realized through programming its S-function.The concise robust controller is designed using closed-loop gain shaping algorithm.The simulation of the system within restrictive swinging spaces is implemented with MATLAB/Simulink.The simulation results show that the ship turns around succesfully in low speed within triple ship length （e.g.,500 m） under Beaufort wind scale of 5 in the harbor envirenment.This study can be an useful reference for developing automatic turning-around control of vessels.
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