叙述了传统非线性PID模型的常见缺陷,通过分析PID各环节在不同响应曲线时应有的变化趋势,以偏差作为参数修正量,生成了各环节的系数,建立了一种通用的非线性PID控制器模型。研究利用非线性PID控制器在线整定参数的功能和具有良好鲁棒性的特点,应用于船舶航向控制。 The common defects of the traditional nonlinear PID model are described. By analyzing the variation tendency of PID in different response curves and taking the deviation as the parameter correction, the coefficients of each link are generated and a general nonlinear PID Controller model. The function and the robustness of on-line tuning parameters using nonlinear PID controller are studied and applied to ship heading control.