Abstract
Problems that arise when creating automatic stabilization systems located on mobile objects are being solved. The advantages and disadvantages of known types of automatic stabilization systems are noted. The Hugh – Stewart platform is one of the devices used in these systems. The article presents the results of mathematical modeling of the Hugh – Stewart platform located on a mobile object, in an environment of external disturbances. This situation is typical for a platform located on a ship, constantly exposed to unpredictable disturbances in the water environment. The Hugh – Stewart platform consists of six hydraulic cylinders, some ends of which are connected directly to the deck of the ship, and the other ends of the hydraulic cylinders are connected to the platform for installing equipment, instruments, devices, whose position in space must be stable. Stabilization of the Hugh – Stewart platform is ensured by changing the length of six hydraulic cylinders according to certain algorithms to ensure the stability of the automatic stabilization system. Mathematical modeling of the Hugh – Stewart platform is complicated not only by the fact that the rotational interaction of six interconnected solid bodies (hydraulic cylinders) platform components – must be taken into account, but also by the need to take into account the influence of unknown disturbances on the platform (when modeling the Hugh – Stewart platform located on a ship, it is necessary to take into account the influence of unpredictable water (sea, ocean) disturbances). The article constructs a kinematic model of the Hugh – Stewart platform, substantiates the choice of sliding modes when implementing hydraulic cylinder control algorithms to stabilize the platform, and proposes adaptation of these modes based on neural networks to take into account the influence of unknown disturbances. Simulation results in the MATLAB software environment prove the effectiveness of the proposed models and control algorithms of the Hugh – Stewart platform.
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