Resonant PI controller for shipboard electrohydraulic stabilized platform

The problem of stabilizing the angular position of the platform installed on the deck of a water vessel is considered. The platform is used to accommodate navigational equipment and radar antennas of communication systems that require stabilization of the platform's angular position in space under conditions of wave perturbations of the aquatic environment to work efficiently. The task under discussion is to eliminate the influence of wave perturbations on the platform's angle of inclination relative to the horizon. A mathematical model of a stabilized platform with an electric hydraulic drive is considered and a technique for synthesizing a control system that provides effective suppression of the influence of wave perturbations on the angular position of the platform is developed. The novelty of the proposed approach to the synthesis of the control system of the stabilized platform position consists in applying the time-scale separation method for calculating the resonant proportional-integral controller of the electrohydraulic drive of the platform. The results of numerical simulation of the control system under discussion are presented.