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Context. Creating guaranteed competitive motion control systems for complex multidimensional moving objects, including un- stable ones, that operate under random controlled and uncontrolled disturbing factors, with minimal design costs, is one of the main requirements for achieving success in this class devices market. Additionally, to meet modern demands for the accuracy of motion control processes along a specified or programmed trajectory, it is essential to synthesize an optimal control system based on experimental data obtained under conditions closely approximating the real operating mode of the test object. Objective. The research presented in this article aims to synthesize an optimal tracking control system for the Stewart platform’s working surface motion, taking into account its multidimensional dynamic model. Method. The article employs a method of a multidimensional tracking control system structural transformation into an equivalent stabilization system for the motion of a multidimensional control object. It also utilizes an algorithm for synthesizing optimal stabilization systems for dynamic objects, whether stable or not, under stationary random external disturbances. The justified algorithm for synthesizing optimal stochastic stabilization systems is constructed using operations such as addition and multiplication of polynomial and fractional-rational matrices, Wiener factorization, Wiener separation of fractional-rational matrices, and the calculation of dispersion integrals. Results. As a result of the conducted research, the problem of defining the concept of analytical design for a Stewart platform’s optimal motion control system has been formalized. The results include the derived transformation equations from the tracking control system to the equivalent stabilization system of the Stewart platform’s working surface motion. Furthermore, the structure and parameters of the main controller transfer function matrix for of this control system have been determined. Conclusions. The justified use of the analytical design concept for the Stewart platform’s working surface optimal motion control system formalizes and significantly simplifies the solution to the problem of synthesizing complex dynamic systems, applying the developed technology presented in [1]. The obtained structure and parameters of the Stewart platform’s working surface motion control system main controller, which is divided into three components W1, W2, and W3, improve the tracking quality of the program signal vector, account for the cross-connections within the Stewart platform, and increase the accuracy of executing the specified trajectory by increasing the degrees of freedom in choosing the controller structure. [ABSTRACT FROM AUTHOR]

At the present stage, with the current demands for the accuracy of motion control processes for a moving object on a specified or programmable trajectory, it is necessary to synthesize the optimal structure and parameters of the stabilization system (controller) of the object, taking into account both real controlled and uncontrolled stochastic disturbing factors. Also, in the process of synthesizing the optimal controller structure, it is necessary to assess and consider multidimensional dynamic models, including those of the object itself, its basic components, controlled and uncontrolled disturbing factors that affect the object in its actual motion. Objective. The aim of the research, the results of which are presented in this article, is to obtain and assess the accuracy of the Stewart platform dynamic model using a justified algorithm for the multidimensional moving object dynamics identification. Method. The article employs a frequency-domain identification method for multidimensional stochastic stabilization systems of moving objects with arbitrary dynamics. The proposed algorithm for multidimensional moving object dynamics model identification is constructed using operations of polynomial and fractional-rational matrices addition, multiplication, Wiener factorization, Wiener separation, and determination of dispersion integrals. Results. As a result of the conducted research, the problem of identifying the dynamic model of a multidimensional moving object is formalized, illustrated by the example of a test stand based on the Stewart platform. The outcomes encompass the identification of the dynamic model of the Stewart platform, its transfer function, and the transfer function of the shaping filter. The verification of the identification results confirms the sufficient accuracy of the obtained models. Conclusions. The justified identification algorithm allows determining the order and parameters of the linearized system of ordinary differential equations for a multidimensional object and the matrix of spectral densities of disturbances acting on it under operating conditions approximating the real functioning mode of the object prototype. The analysis of the identification results of the dynamic models of the Stewart platform indicates that the primary influence on the displacement of the center of mass of the moving platform is the variation in control inputs. However, neglecting the impact of disturbances reduces the accuracy of platform positioning. Therefore, for the synthesis of the control system, methods should be applied that enable determining the structure and parameters of a multidimensional controller, considering such influences. [ABSTRACT FROM AUTHOR]

Context. The article is devoted to overcoming the contradictions between the assumptions adopted in known methods of closedloop control system identification and the design and conditions of its operation. The article presents a new method of identifying the transfer functions matrix of a two-level closed-loop control system element, which functions under the conditions of multidimensional stationary centered random influences. Objective. The purpose of the study, the results of which are presented in this paper, is to extend the indirect identification method to the case of estimating one of the two-level closed-loop control system elements, dynamics model based on passive experiment data. Method. To solve the optimal identification problem, a variational method for minimizing the quality functional on the class of fractional-rational transfer function matrices was used. Results. As a result of the research, the identification problem formulation was formalized, the rules for obtaining experimental information about the input and output signals were determined, the rules for identifying the transfer functions matrix of a two-level closed-loop control system element, which minimizes the sum of the variances of identification errors in the frequency domain, and the verification of these rules was carried out. Conclusions. Justified rules allow to correctly determine transfer functions matrices of the closed-loop systems selected element when fulfilling the defined list of conditions. The closed-loop systems control paths signals analysis proves the possibility of the effect of changing these signals statistical means, even under conditions of only centered stationary input influences actions on the system. Based on this, the further development of research can be aimed at overcoming such effects. [ABSTRACT FROM AUTHOR]