Stabilized Platform Control System Design Based on Time-Scale Separation Method

Currently, stabilized platforms are widely used for placement of precision on-board information and control systems of mobile objects, radar systems and communication complexes and other special equipment. Compensation of the influence of oscillations of the moving base of the platform by stabilizing its angular position in space allows to significantly improve the accuracy and efficiency of this equipment. The paper considers the problem of a control system design to provide a given angular position of a platform that is placed on the deck of a ship. The discussed structure of the platform contains an electric hydraulic drive as an actuating mechanism. By means of moving the hydraulic cylinder rod, the horizontal position of the platform is ensured in the conditions of the moving platform base. The efficiency of solving the problem of stabilizing the angular position of the platform is achieved by increasing the accuracy of regulation in the control system, which usually leads to the need to increase the gain coefficients in the control algorithm. At the same time, the presence of small inertia in the control loop can lead to loss of stability of the control system. The paper proposes a methodology for designing a simplified controller structure for a stabilized platform with an electrohydraulic actuator, which makes it possible to take into account the influence of small inertia of high dynamic order on the stability property of the control system. The novelty of the discussed technique consists in the application of the time-scale separation method to solve the problem of analysis and synthesis of the stabilized platform position control system. The numerical simulation results of the discussed control system are included.