Stabilization of the Angular Position of Hexapod Platform on Board of a Ship in the Conditions of Motions

摘要

The research is aimed at finding the structure and parameters of the optimal control law for stabilizing the angular position of the Stewart platform (hexapod), designed to ensure takeoff and landing of an unmanned aerial vehicle from the deck of a ship in the high sea. The task of stabilizing the angular position of hexapod is to provide small angles of its deviation in the horizon plane under the action of nondeterministic external disturbances and factors, namely, in the conditions of the sea oscillation, with significant fluctuations in wind force and its direction. The action of these factors causes not only a decrease in the accuracy of stabilization of the platform in the horizon plane in the conditions of random motions, but also the output of control actions at the boundary of limits of the operating zone of the hexapod. To solve this problem, the method of synthesis of the optimal multidimensional system of object stabilization is used. It works under the influence of multidimensional stationary random useful signals, disturbances, and measuring noises.