为提高双电型船舶直流推进系统的电能质量和稳定性，设计一种改进的由超级电容和蓄电池组成的船载混合储能系统分布式协同控制策略:蓄电池和超级电容分别用比例下垂和积分下垂控制，以实现高低频功率分配。每个蓄电池配备一个本地分布式补偿器，使多个并联蓄电池之间实现自主功率分配和荷电状态（SoC）均衡；同时，利用直流母线电压二次调节，实现直流母线电压的自主恢复，并且将其与积分下垂控制结合，实现超级电容的SoC快恢复；最终，建立了船载混合储能系统的通用数学模型，并利用该模型进行了动态分析，从理论上验证了该系统的蓄电池SoC动态均衡、超级电容SoC快速恢复、自主功率分配和直流母线电压自主恢复等多个功能的有效性。硬件在环实验结果和理论分析一致，有效证明了该系统的多功能特性。

In order to improve the power quality and stability of the dual-electric marine DC propulsion system, an improved distributed collaborative control strategy of the ship-borne hybrid energy storage system composed of supercapacitors and batteries was designed. The battery and supercapacitor were controlled with proportional sag and integral sag respectively to achieve high and low frequency power distribution. Each battery was equipped with a local distributed compensator to enable autonomous power distribution and state-of-charge (SoC) balancing between multiple parallel batteries. At the same time, the DC bus voltage was used to adjust the voltage secondarily to realize the autonomous recovery of the DC bus voltage, and combined with the integrated droop control to achieve fast SoC recovery of the supercapacitor. Finally, a general mathematical model of the shipboard hybrid energy storage system was established, and the dynamic analysis was carried out by using the proposed model, which theoretically verified the effectiveness of the system’s battery SoC dynamic equalization, supercapacitor SoC fast recovery, autonomous power distribution and DC bus voltage autonomous recovery. The results of hardware-in-the-loop experiments are consistent with the theoretical analysis, which effectively proves the multi-function characteristics of the system.