Abstract: The steering gear system is an important executive device in the course control system, and its performance directly affects the quality of control. However, due to the existence of time delay, the ship steering system cannot achieve step steering, which leads to the decline of control performance. Smith predictive control has a good compensation effect for time-delay system, and fuzzy PID control has good static stability and dynamic response characteristics. Therefore, a new controller combining with the Smith prediction controller and fuzzy PID controller was proposed, which made full use of their advantages. The simulation analysis shows that the fuzzy PID course control system based on Smith compensation has the static characteristics of accurately tracking error and the dynamic characteristics of fast and no-overshoot, and has relatively strong robustness.

Key words: marine engineering, the delay of steering gear, fuzzy PID, Smith estimated compensation, simulation

摘要： 舵机系统是航向控制系统中的重要执行装置，其性能的优异与否直接影响着控制品质的优良，然而由于时滞现象的存在 ，船舶舵机系统无法实现阶跃操舵从而导致控制性能下降。Smith预估控制对滞后系统具有良好的补偿效果，模糊PID控制兼有较好的静态稳定特性和动态响应特性。将两种控制器结合设计，充分利用各自的优势。仿真分析表明，基于Smith补偿的模糊PID航向控制系统具有准确跟踪误差的静态特性和快速-无超调的动态特性，并且具有较强的鲁棒性。

关键词: 船舶工程, 舵机时滞, 模糊PID, Smith预估补偿, 仿真