摘要：在陆地资源日益匮乏的今天，丰富的海洋资源越来越受到人们的重视，成为炙手可热的焦点。基于科研、军事等现实需要，人们越来越多地致力于无人水面舰艇的研究。无人舰艇的应用十分广泛，不仅可以作用于农业、测绘、海洋搜救、环境监察等，在军事领域也占据相当重要的地位。人们可以对无人舰艇远程遥控，从而实施远距离作业。无人水面舰艇的航向控制问题是其研究的基本问题之一，设计好航向控制器是至关重要的一步。

无人水面舰艇的运动具有不确定性，航速变化等会改变流体动力导数，风、浪、流的干扰也会使其模型参数产生摄动。所谓鲁棒稳定性，是指在被控过程中，控制器在存在干扰、不确定性以及测量误差的情况下，使闭环控制系统达到稳定。如果在达到鲁棒稳定性的基础上，系统符合所规定的各项指标，那么这个系统就具有鲁棒性能。

本文通过对多种方案的仿真分析，对比各项策略的优劣，从而选取航向控制的最优策略。

首先，需要建立合适的无人水面舰艇模型，选取合适的自由度，绘制模型简图，本文选取了最简单的三自由度模型，从而简化了复杂的研究。考虑到无人舰艇航行中的主要外部干扰，忽略其他影响较小的扰动，在所选取的无人舰艇模型的基础上建立风、浪的干扰模型。在此基础上开始设计航向控制器。有如下控制器设计方案：1.传统PID控制器2.鲁棒PID控制器3.自适应鲁棒PID控制器。其中方案一最大的缺点是不具有鲁棒性，方案二和方案三考虑系统参数以及干扰的不确定性问题，对方案一进行了改善。最后根据仿真图形对各方案的优劣进行判断。

关键词：无人水面舰艇；PID控制；鲁棒控制；航向控制器；自适应

Abstract：Today, with the scarcity of land resources, more and more attention has been paid to the rich marine resources. Based on scientific research, military and other practical needs, more and more people are devoted to the study of Unmanned Surface  Vehicles  (USVs). Unmanned Surface Vehicles are widely used not only in agriculture, surveying and mapping, marine searching and rescuing, environmental monitoring, but also in the military field. Long distance operations can be carried out by remote control of unmanned vessels. Heading control of unmanned surface vessels is one of the basic problems of its research. Designing a heading controller is a crucial step.

The motion of Unmanned Surface Vehicles is uncertain, and the change of speed will change the dynamic derivative of the fluid. The disturbance of wind, wave and current will also cause the perturbation of ship model parameters. The so-called robust stability refers to the stability of the closed-loop control system in the presence of disturbances, uncertainties and measurement errors in the controlled process. If the system is robust and stable and the system meets the required specifications, then the system is robust.

In this thesis, through the simulation analysis of various schemes, the advantages and disadvantages of each strategy are compared, and then the optimal strategy  of heading control is selected.

First of all, it is necessary to establish a suitable Unmanned Surface Vehicles model, and select the appropriate degree of freedom to draw the model diagram. In this paper, the simplest three degree of freedom model is selected, thus simplifying the complex research. Taking into account the main external disturbances in ship navigation and ignoring other minor disturbances, a disturbance model of wind and wave is established on the basis of the selected Unmanned Surface Vehicles model. Based on this, the heading controller is designed. The design scheme of the controller is as follows: 1. traditional PID controller, 2. robust PID controller, 3. adaptive robust PID controller. The biggest drawback of the scheme is that it is not robust. Scheme two and scheme three consider the system parameters as well as the