Platform Stabilization on a Ship under Wave Disturbances

There is a large variety of devices and apparatus of a water vessel for the effective operation of which it is required to provide stabilization of position in space under conditions of wave disturbances, for example, navigation equipment, radar antennas of communication systems. Suppression of the influence of wave disturbances on the operation of this equipment can be provided by placing this equipment on special stabilized platforms. Stabilization of such a platform is provided by means of drives with control system. In this paper, as an example, we consider a stabilized platform with a drive in the form of a DC motor. The control task is to eliminate the influence of wave perturbations on the angle of deviation of the platform relative to the horizon. The paper considers a mathematical model of a stabilized platform on the deck of a watercraft and proposes a new methodology for synthesizing the control system to provide effective suppression of the influence of wave disturbances on the angular position of the platform. The novelty of the proposed approach to the synthesis of the control system consists in the application of the time-scale separation method to calculate the resonant proportional-integral-differential controller.