Resonant PI Controller Design for the Electrohydraulic Drive of a Stabilized Platform System

The problem of stabilizing the position of a platform installed on the deck of a ship is considered. The platform is used to accommodate navigation equipment and antennas for radar communication systems. The system of stabilized platforms improves the working conditions of such special equipment by suppressing wave disturbances in the aquatic environment. This article discusses the methodology for designing an electro-hydraulic drive controller that ensures the angular stability of a stabilized platform under the influence of wave interference. Elimination of the influence of wave disturbances on the angle of deviation of the platform from the horizon is the control objective. The article considers a mathematical model of a stabilized platform with an electro-hydraulic drive and proposes a method for designing a control system that effectively suppresses the influence of wave disturbances on the angular position of the platform. Innovative in the proposed approach to building a position control system for a stabilized platform is the implementation of the time-scale separation method for calculating the resonant proportional-integral controller of an electro-hydraulic drive platform. The proposed method for constructing the controller allows for effective suppression of the effect of harmonic interference with a known frequency but an unknown amplitude. The results of the numerical simulation of the considered control system are presented.