船舶主机速度控制系统由于具有典型的非线性和不确定性特性,并受到调速器执行能力的约束以及风、浪、流等的干扰,使得主机速度控制器的设计非常困难.该文给出了带有船舶主机速度控制非线性数学模型以及海浪扰动数学模型,对自抗扰控制(ADRC)原理进行了简要介绍；设计了船舶主机ADRC控制器.仿真结果表明:该控制器对于船舶主机的非线性、参数不确定性、环境不确定性以及控制对象的模型变化均有较强的鲁棒性；速度切换控制过程快速、平滑,油门调整小,可以实现高精度的速度控制.%Mathematical models of nonlinear ship main engine control and wave disturbance are applied to the design of electronic governor. Uncertainty of model parameters and the characteristics of servo-system are considered. An active disturbance rejection nonlinear control strategy is proposed, and such a controller for ship main engine is designed. Simulation results of tracking and keeping ship ME speed show that the controller has good adaptability to the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. Speed switching is fast and smooth with small throttle turning volume, thus high-accurate control of ship ME speed is achieved.
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