为提升舰船电动执行机构在复杂航行环境下的运动控制精度与适应性，设计自适应级联跟踪控制的舰船电动执行机构运动控制技术。该技术依据舰船电动执行机构控制特性分析结果，确定其主导控制力分量，构建六维控制矢量。结合级联扩张状态观测器和力跟踪导纳控制器，设计自适应级联跟踪控制器。通过级联扩张状态观测器估计扰动结果并补偿该扰动后，力跟踪导纳控制器依据补偿结果计算执行机构运动的力偏差值确定调整量，完成电动执行机构运动控制。测试结果显示，该技术可有效反映执行机构在运动控制过程中的动态特性，实时掌握动态变化情况；较好地适应海洋环境的多样性和不确定性，外部扰动达到18%时，艏摇角误差依旧不超过±0.02 rad；控制后输出力最大幅度仅为0.6 N。
To improve the motion control accuracy and adaptability of ship electric actuators in complex navigation environments, an adaptive cascade tracking control technology for ship electric actuator motion control is designed. Based on the analysis of the control characteristics of the ship's electric actuator, this technology determines its dominant control force component and constructs a six dimensional control vector. Design an adaptive cascaded tracking controller by combining a cascaded extended state observer and a force tracking admittance controller. After estimating the disturbance result through a cascaded expansion state observer and compensating for the disturbance, the force tracking admittance controller calculates the force deviation value of the actuator motion based on the compensation result to determine the adjustment amount, completing the motion control of the electric actuator. The test results show that this technology can effectively reflect the dynamic characteristics of the actuator during the motion control process, and grasp the dynamic changes in real time; Adapting well to the diversity and uncertainty of the marine environment, the bow roll angle error still does not exceed ± 0.02 rad when external disturbances reach 18%; The maximum output force after control is only 0.6 N.
2025,47(16): 181-184 收稿日期：2025-3-27
DOI：10.3404/j.issn.1672-7649.2025.16.029
分类号：U674；TP242
作者简介：程怡安(1988-),男,硕士,讲师,研究方向为控制理论与控制工程
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