本文根据舰船变向航行的技术要求,采用现代控制理论中极点配置法,使舰船变向航行过程的动态性能较好。应用降维观测器获取航向微分讯号,并应用微型计算机实现其控制律及状态估计。根据某艇海上实验所得船体航向运动参数,进行了数字模拟混合仿真。仿真结果表明:控制律的推导,计算机软硬件的设计是正确的。 In this paper, according to the technical requirements of navigating the ship to the voyage, the pole placement method in modern control theory is adopted to make the dynamic performance of the ship diverting to navigation better. Applying the reduced-dimensional observer to obtain the heading differential signal, and applying the microcomputer to realize its control law and state estimation. Based on the hull heading motion parameters obtained from a marine experiment, a digital simulation hybrid simulation was carried out. The simulation results show that the design of control law and computer hardware and software are correct.