针对船舶运动中多变量耦合、非线性、滞后、限幅、绿色控制等控制问题，提出运用基于逆系统方法的内模控制方法。该方法采用逆系统方法原理将船舶的非线性模型变换成伪线性模型，对伪线性模型进行内模控制。同时提出内模控制与其他控制策略相结合例如PID控制相结合的控制方法以期提升内模控制的控制效果。仿真结果表明，内模控制具有良好的控制效果，而且精度高，鲁棒性好，同时参数调节简单方便。
We proposed an internal model control based on the inverse system theory to solve the ship movement problems such as multivariable coupling, linearity, hysteresis, limiting and so on It uses the inverse system theory to change the ship's non-linear model into linear pseudomode and uses the internal model to control the linear pseudomode. At the same time, we also proposed the method which combine the internal model control with other control strategies such as PID. The simulation results show the internal model control is not only highly efficient control, but also has a high precision, the robustness is good and it is very convenience to alter the parameter.
2016,38(11): 111-115,119 收稿日期：2015-12-28
DOI：10.3404/j.issn.1672-7619.2016.11.023
分类号：U675.91
作者简介：刘芸(1989-),女,硕士研究生,助教,研究方向为自动化装备与控制技术。
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