Abstract
Stabilized platforms are used on all types of moving vehicles, from satellites to submarines, and are even used on some portable and terrestrial devices. For example, a stabilized platform on a ship is used to accommodate navigation equipment and antennas of radar communication systems, which improves the efficiency of this equipment under the influence of wave disturbances. There are various kinematic schemes for building ship stabilized platforms. In particular, serial stabilized platforms and parallel stabilized platforms are used. In practical applications, serial stabilized platforms have found wider use. In this paper, we consider a mathematical model of a ship-based stabilized platform with two degrees of freedom, where the angular orientation of the platform is controlled using electric hydraulic drives. The use of electro-hydraulic drives makes it possible to ensure the formation of the required magnitude of the force effect to compensate for disturbances from wave oscillations of the ship's deck. In order to obtain relations for describing the relationship between the angular displacements of the elements of the kinematic scheme of the platform and the displacement of the hydraulic cylinder rod, the apparatus of complex numbers is involved in this work. A mathematical model of an electrohydraulic drive is considered taking into account the dynamics of movement of the electromechanism of a spool servo valve, the flow rates and pressures of the working fluid in the cavities of the hydraulic cylinder. A linearized mathematical model of an electrohydraulic drive is considered, and estimates are obtained for the parameters of the obtained mathematical model for given mass-dimensional characteristics of an electrohydraulic drive. This mathematical model can be used in the synthesis of an electric hydraulic drive control system to provide a given angular orientation of the platform under the action of wave disturbances.
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