船舶在海上航行时受到海风、海浪和海流等环境扰动作用，这造成在不同航速下船舶动力学模型的参数不确定性，本文对船舶本体运动和风浪流干扰进行建模，提出一种基于分数阶PIλDμ的抑制风浪干扰的的航向控制算法，并与传统 PID算法进行对比，针对某型船舶动力学模型在6级海风和5级海浪海况下进行对比数字仿真。仿真结果表明，该算法在不同航速下具有较好的控制品质和鲁棒性，对风浪干扰具有良好的适应性，可应用于船舶的航向控制，易于工程实现。%The sailing marine vehicles are disturbed by the wind, wave and current on the ocean, which cause the model parameters' uncertainty for ship motion in different sailing velocity. In this paper, the body of ship and the disturbances of wind, wave and ocean are modeled, and a course control algorithm based on Fractional-Order PIλDμ(FOPID) to restrain the disturbance of wind and wave is proposed. The comparing numerical simulation for the dynamic model of some ship is carried out by the sea state of the 6 wind degree and 5 wave degreecompared with the conventional PID control algorithm. The numerical simulation result shows that, the algorithm proposed guarantee pretty nice control quality and robustness for different sailing speeds, and is adaptive to the disturbance of wind and wave, which can be applied to the course control of ship, and is not complicated to apply in engineering .
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