中文摘要：

为了提高航向控制系统适应能力和降低控制器参数设计复杂性,在内模控制的基础上设计了一种专门针对船舶航向控制的无静差跟踪控制系统,推导了控制器参数与闭环系统零极点位置的关系,针对静水域环境下一组航速分别进行了仿真研究,测试了航向控制系统的鲁棒性和机动性能.仿真结果表明本文所设计的控制器达到无静差航向控制,并具有较好的鲁棒性.

英文摘要：

Ship autopilot was always characterized as designs for none-linear and exacerbated by environment,which trouble the engineers.Based on inner-model control,a zero steady-state error tracking controller for ship was proposed to enhance the adaptability of course control system,and to cut down the complexity of the controller＇s parameters.The relation between controller parameters and the pole position of closed-loop system was deduced.Based on a designed control system,the system＇s robust ability with several speeds and analyzes the performance was tested according to the simulation results.The analysis and simulation have present that the controller proposed was error-less and robust.