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Power-driven six-degree of freedom motion platform high-precision control system and control method

A motion platform and control system technology, applied in three-dimensional position/channel control and other directions, to achieve the effects of high real-time performance, simple structure, and flexible expansion

Active Publication Date: 2015-06-24
BEIJING INST OF SPECIALIZED MACHINERY
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  • Abstract
  • Description
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  • Application Information

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Judging from the current research status, patent document CN200820004705.0 discloses a "large-load six-degree-of-freedom electric platform", and patent document CN201020245593.5 discloses a "six-degree-of-freedom electromechanical motion platform". It involves a six-degree-of-freedom motion platform and its control system, but the main content is the composition structure of the platform and the hardware design of the power drive system, and does not involve how the platform control method is realized. new control strategy

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[0027] In order to make the purpose, content and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] refer to figure 1 As shown, the six-degree-of-freedom motion platform body in this embodiment is a Stewart configuration parallel mechanism, which adopts an all-electric drive mode, including an upper platform, a lower platform, 6 electric cylinders, and a kinematic hinge connecting the upper and lower platforms.

[0029] Based on the structure of the above-mentioned six-degree-of-freedom motion platform, the hardware of the platform control system in this embodiment adopts a multi-axis servo system solution based on industrial real-time Ethernet. For the principle of hardware composition, see figure 1 As shown, specifically, the control system includes an embedded controller, a real-time Ethernet bus network and...

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Abstract

The invention belongs to the technical field of mechanical-electrical integration and drive control and discloses a power-driven six-degree of freedom motion platform high-precision control system and control method. The power-driven six-degree of freedom motion platform high-precision control system comprises an embedded controller, a real-time Ethernet bus network and a driver; the embedded controller transfers a control instruction to the driver through the real-time Ethernet bus network, a power-driven cylinder is connected with a servo motor, the driver drives the servo motor directly, the servo motor drives the power-driven cylinder to perform telescopic motion, and the motion of a six degrees of freedom motion platform is achieved. The power-driven six-degree of freedom motion platform high-precision control system and control method have the advantages of being high in control real-time performance, good in motion synchronism of all branches, high in reliability, simple in structure, flexible in extension and easy to maintain. Based on the flexible software design platform, not only can the motion simulation be achieved, but also the high-precision multi-degree of freedom location can be achieved.

Description

technical field [0001] The invention belongs to the technical field of mechatronics and drive control, in particular to the high-precision collaborative control technology of parallel robots, and specifically relates to a high-precision control system and control method for an electric six-degree-of-freedom motion platform. Background technique [0002] The six-degree-of-freedom motion platform can realize six-degree-of-freedom motions such as vertical, lateral, longitudinal, pitch, roll, and yaw. Very broad application prospects. Judging from the current research status, patent document CN200820004705.0 discloses a "large-load six-degree-of-freedom electric platform", and patent document CN201020245593.5 discloses a "six-degree-of-freedom electromechanical motion platform". It involves a six-degree-of-freedom motion platform and its control system, but the main content is the composition structure of the platform and the hardware design of the power drive system, and does ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 吕应明陈茂田赵春海
Owner BEIJING INST OF SPECIALIZED MACHINERY
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