In this paper,introduced a improvmend control method,analyzed the characteristics of two methods of sail-track,put forward comprehensive "direction control" and "sail-tfack control" ,made use of varieties of "direction" and "sail-track" for avoiding sheer. Pass experiment, verified improved control method track to control more effectively, the track undulate smaller, especially under the complicated condition.%分析了船舶轨迹控制的直接法和间接法的特点,提出综合航向控制与航迹控制,利用航向差与航迹角度差的变化,调整航向差与航迹角度的相互关系来控制舵角,达到消除航迹偏差的控制目的.通过实船试验,验证了此方法简单实用、控制精度高、灵活性强的特点,特别是在复杂条件下,此法避免了大量的力学分析和算法推演,只考虑各种因素对船舶的实际影响结果,控制效果明显.
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