舰载光电伺服设备由于受到横摇、纵摇、艏摇的扰动，从而对系统的稳态和动态精度会有很大的影响。为解决在海面上远距离跟踪目标精度不高的问题，提出通过CA模型最小二乘法以及船地坐标转换滤波原理，将速度前馈到双闭环伺服控制的速度环中。其位置环、速度环采用一阶、二阶滞后超前串联校正调节器，根据不同的跟踪状态在程序中切换一阶、二阶调节器以达到良好的跟踪效果，最后再加上19位高精度的旋转变压器构成完整的双闭环伺服控制系统，提高了跟踪精度。试验表明：某舰载光电伺服设备使用中波红外跟踪方式远距离跟踪目标，脱靶量最大为35″，旋变反馈角度位置合成值与雷达测得目标实际角度值一致，最大跟踪误差仅为100″，远小于工程中要求4′的跟踪精度。

Due to the roll,pitch,yaw disturbance,the shipborne photoelectric servo device has a great influence on the system steady sate and dynamic accuracy.To improve the target remote tracking accuracy on the sea surface,the CA model least square method is used together with ship-to-earth coordinate transformation filtering,and the velocity is fed forward to the velocity loop of double closed-loop servo control system.The position loop and velocity loop adopt first-order or second-order lag-lead series correction adjuster,based on different tracking states.The first-order and second-order adjuster can be switched into another one in the program,so as to achieve a good tracking effect.Finally,a 19-bit high-precision rotary transformer is added to form a complete double closed-loop servo control system for improving the tracking accuracy.In a test,a certain ship-borne photoelectric servo device performed target remote tracking with medium wave infrared tracking mode.The result shows that: 1) The maximum miss distance is 35″;and 2) The composite angle value of rotary transformer feedback is in agreement with the actual angle value of target measured by radar,and the maximum tracking error is only 100″,which is far less than the tracking accuracy of 4′ required in engineering.