随着智能航行技术的不断发展，尤其在船舶姿态控制与状态感知系统中，对高精度、低功耗、可自供能的角度检测技术提出了更高要求。基于独立层式摩擦纳米发电机的静电感应耦合效应，本文构建了一种可实时检测船舶姿态角度的自驱动层叠式传感器，系统揭示了转动角度与角速度对输出特性的非线性响应规律。通过建立表面电荷密度与接触面积的正相关性模型，结合动态电容变化理论，阐明了输出电压和短路电流的电荷转移机理。对比传统磁电编码器，所提出的层叠式传感器通过优化柔性基底氟化乙烯丙烯薄膜的介电常数和表面微纳结构，检测船舶姿态角测量精度提升60%，可为船舶姿态控制系统中的舵角感知及螺旋桨转速调节提供低功耗、高鲁棒性的解决方案。
With the rapid advancement of intelligent navigation technologies, the demand for high-precision, low-power, and self-powered angle detection solutions has increased substantially in ship attitude control and state perception systems. In this study, a self-powered stacked-structured sensor is developed for the real-time detection of ship attitude angles, leveraging the electrostatic induction coupling effect of an independent-layer triboelectric nanogenerator. The nonlinear response of the output characteristics to rotational angle and angular velocity is systematically investigated. Combined with dynamic capacitance variation theory, a positive correlation model between surface charge density and contact area is established to elucidate the charge transfer mechanisms governing the output voltage and short-circuit current. Compared with conventional magnetic encoders, the stacked-structured sensor, optimized through the tuning of the dielectric constant and the micro–nano surface structures of a flexible fluorinated ethylene propylene film substrate, achieves a 60% enhancement in the measurement precision of ship attitude angle. This work provides a low-power, highly robust solution for ship angle sensing and propeller velocity regulation in ship attitude control systems.
2026,48(7): 173-178 收稿日期：2025-7-24
DOI：10.3404/j.issn.1672-7649.2026.07.028
分类号：U674
基金项目：国家自然科学基金资助项目（52401399）
作者简介：程辉(1984-),男,博士,工程师,研究方向为船舶智能航行
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