To address the issue of system parameter variations during the operation of a maritime light vessel rudder permanent magnet synchronous motor (PMSM), an extended Kalman particle filter (EKPF) algorithm that combines a particle filter (PF) with an extended Kalman filter (EKF) is proposed in this paper. This approach enables the online identification of motor resistance and inductance. For highly nonlinear problems that are challenging for traditional methods such as Kalman filtering, this algorithm is typically a statistical and effective estimation method that usually yields good results. Firstly, a standard linear discrete parameter identification model is established for a PMSM. Secondly, the PF algorithm based on Bayesian state estimation as a foundation for subsequent research is derived. Thirdly, the advantages and limitations of the PF algorithm are analyzed, addressing issues such as sample degeneracy, by integrating it with the Kalman filtering algorithm. Specifically, the EKPF algorithm for online parameter identification is employed. Finally, the identification model within MATLAB/Simulink is constructed and the simulation studies are executed to ascertain the viability of our suggested algorithm. The outcomes from these simulations indicate that the proposed EKPF algorithm identifies resistance and inductance values both swiftly and precisely, markedly boosting the robustness and enhancing the control efficacy of the PMSM.

To address the control performance and harmonic suppression issues in maritime vessel rudder permanent magnet servo systems, a fractional-order PID controller was introduced into the existing improved repetitive control strategy. We used the Oustaloup approximation algorithm and particle swarm optimization for tuning the fractional-order PID controller. The optimized parameters substantially improved the control performance. By integrating the fractional-order PID controller with the improved repetitive controller, a composite fractional-order PID repetitive control strategy was formed. Finally, MATLAB/Simulink simulations were conducted to compare and verify the disturbance rejection and harmonic suppression capabilities of the improved control strategy. The results demonstrate its superior control performance, thereby increasing the practicality of the control system in dealing with various situations.