A high-precision control system and control method for an electric six-degree-of-freedom motion platform

A motion platform and control system technology, applied in three-dimensional position/channel control, etc., to achieve high reliability, good motion synchronization, and high real-time effects

Active Publication Date: 2017-12-05
BEIJING INST OF SPECIALIZED MACHINERY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

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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  • A high-precision control system and control method for an electric six-degree-of-freedom motion platform
  • A high-precision control system and control method for an electric six-degree-of-freedom motion platform
  • A high-precision control system and control method for an electric six-degree-of-freedom motion platform

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Embodiment Construction

[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 electromechanical integration and drive control, and discloses a high-precision control system and control method for an electric six-degree-of-freedom motion platform. The control system includes an embedded controller, a real-time Ethernet bus network and a driver; the embedded controller The control command is transmitted to the driver through the real-time Ethernet bus network, the electric cylinder is connected to the servo motor, the driver directly drives the servo motor, and the servo motor drives the telescopic movement of the electric cylinder to realize the movement of the six-degree-of-freedom motion platform. The invention has the advantages of high real-time control, good motion synchronization of each branch, high reliability, simple structure, flexible expansion, and easy maintenance; the flexible software design platform can not only realize motion simulation, but also realize high-precision and multiple degrees of freedom positioning.

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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Patent Type & Authority Patents(China)
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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