Sliding-model Control based on Model Reference for Electric Propulsion Ship Course Tracking Control

A sliding-mode controller based on model reference is designed for the course tracking control of electric propulsion ship equipped with full turn propellers,using the ship rotary motion response equation established by the method of equivalent rudder effect.The control structure contains two son sliding mode controllers,one is used to control the reference model,in order to obtain ideal dynamic response,another guide the ship's course convergence in set value,with the dynamic response of the former state of every control interval as the target.The simulation results indicate that with the constraints of the amplitude and the rotate speed of the full turn propellers,this method can effectively solve the sliding mode control input chattering problem,reduce the sliding mode control input requirements,and has good robustness and control effect.