针对全回转舵浆的电力推进船舶航向控制问题,基于等价舵效建立的船舶回转运动响应方程,设计了基于参考模型的滑模控制器。该控制器含有两个滑模控制子系统,其一用来控制参考模型,以获得理想的动态响应;另一个以前者每个控制周期对应的状态为控制目标输入,引导船舶航向收敛于设定值。仿真结果表明,在满足全回转舵浆回转角幅值与速度的限制下,该方法能够有效解决滑模控制输入的强抖振问题,能降低滑模控制输入的要求,且具有良好的鲁棒性与控制效果。 Aiming at the problem of navigating the propulsion of ship propulsion with full rotary propeller, a sliding mode controller based on the reference model is designed based on the response equation of the ship’s gyroscopic motion. The controller contains two sliding mode control subsystems, one of which is used to control the reference model to obtain the desired dynamic response. The other one corresponds to the control target input for each control period, which leads the ship heading to converge to the setting value. The simulation results show that the proposed method can effectively solve the strong chattering problem of sliding mode control input, reduce the requirement of sliding mode control input and have good robustness Sex and control effects.