Design of a Control System for Stabilizing the Angular Position of Platforms on a Movable Base

The problem of a control system design is discussed to provide an angular position platform stabilization. The platform is used to install various navigation equipment and communication devices. Stabilization of the platform's angular position eliminates the influence of vibrations of the platform's moving base on the operation of this equipment. The platform is equipped with an electrohydraulic drive, which ensures the horizontal position of the platform under conditions of vibrations of the vessel deck. The control system is designed in such a way that fast and slow processes are created in a closedloop system. The discussed approach to control system design allows to provide stability and robustness for position of the platform under vibrations of the vessel deck. The effect of the small parameters of the electrohydraulic drive on control system stability is treated. The selection of the controller parameters is carried out by additionally taking into account the sensitivity function, which reflects the influence of wave disturbances on the angular position of the platform.