船舶航向与柴油机推进装置是紧密耦合的,但长期以来对它们的控制是完全独立的。根据线性变参数(LPV)系统设计原理,提出了基于LPV的船舶航向与主机联合控制。建立了以船速等为变参数的船舶航向与主机联合控制的LPV模型,采用LPV多胞设计方法,通过状态反馈对闭环极点进行配置,分别设计具有H∞鲁棒性能的航向与主机LPV控制器,实现二者的联合控制。以5446箱班轮为被控制对象,仿真验证了航向与主机LPV控制器在风浪干扰下联合控制的有效性。 Ship heading and diesel propulsion devices are closely coupled, but for a long time their control is completely independent. According to the design principle of linear variable parameter (LPV) system, the joint navigation and host control based on LPV is proposed. The LPV model of ship heading and host joint control with variable ship speed as a parameter is established. By using LPV multicellular design method, the closed-loop poles are configured by state feedback, and the heading and host LPV control with H∞ robustness are designed respectively Device, to achieve the joint control of both. Taking 5446 boxes as control objects, the simulation verified the effectiveness of joint control between heading and host LPV controller under wind and wave disturbance.