To solve the problems of difficult course keeping, high energy output, and large wear of very large ships under different sea conditions, a robust controller combining the closed-loop gain shaping algorithm and nonlinear decoration is proposed in this paper. Firstly, a linear controller is designed by using the third-order closed-loop gain shaping algorithm and takes the hyperbolic tangent function as the nonlinear decoration of the controller output, and the robustness of the system is proved by H∞ robust control theory. Secondly, taking ‘Vale Brasil’, an ore carrier with a displacement of 400,000 tons, as the test plant. The nonlinear Nomoto model and nonlinear Norrbin model were established, which were compared with the control effect from the existing controller. Thirdly, simulation experiments were carried out under normal sea state and heavy sea state to prove the effectiveness. The results indicate that the proposed control strategy can achieve the required course faster, and enhances the smoothness of rudder angle actuation compared with the existing controller. It can maintain good control ability under different sea conditions. The proposed controller has the advantages of simple parameter adjustment, better robustness, less energy consumption, and reduced rudder angle. It is more in line with engineering practice and increases ship operation benefits.

针对超大型船舶在不同海况下航向保持困难、能量输出高、磨损大等问题，提出一种闭环增益整形算法与非线性修正相结合的鲁棒控制器。首先，采用三阶闭环增益整形算法设计线性控制器，并以双曲正切函数作为控制器输出的非线性修饰，并通过H∞鲁棒控制理论证明了系统的鲁棒性。其次，以排水量40万吨矿砂船“淡水河谷巴西”号为试验工厂。建立了非线性Nomoto模型和非线性Norrbin模型，并与现有控制器的控制效果进行了比较。第三，在正常海况和恶劣海况下进行了模拟实验，验证了该方法的有效性。结果表明，与现有控制器相比，所提出的控制策略能够更快地实现所需航向，并提高了舵角驱动的平滑性。在不同海况下都能保持良好的操控能力。该控制器具有参数调整简单、鲁棒性好、能耗少、舵角减小等优点。更符合工程实际，提高船舶运营效益。在不同海况下都能保持良好的操控能力。该控制器具有参数调整简单、鲁棒性好、能耗少、舵角减小等优点。更符合工程实际，提高船舶运营效益。在不同海况下都能保持良好的操控能力。该控制器具有参数调整简单、鲁棒性好、能耗少、舵角减小等优点。更符合工程实际，提高船舶运营效益。