Design Of Positioning And Control System For Motion Platform

The precise positioning and control of the motion platform is the key technology for longdistance unmanned detection such as lunar exploration and Mars exploration,which directly determines the success or failure of the detection mission.Aiming at the problem of highprecision positioning and control.The ultrasonic-based motion platform positioning and control system is designed to realize the motion control of the motion platform.The hardware circuit of platform positioning and control system is designed with the STM32F103 as the core,including ARM processor,ultrasonic emission,wireless transceiver,platform pointing detection,platform driver control interface and power supply modules.Six ultrasonic transmitters are uniformly divided on the circumference to achieve alldirectional coverage.The movement of the platform along the specified trajectory is realized by the control interface of the platform driver.The software flow of the system is given.The modules of wireless command/data receiving and sending,platform on-orbit control,platform motion control,platform pointing processing,platform parking processing and platform fixed-point parking processing are realized by programming.When receiving the motion command of the platform,according to the current position and direction of the platform,the platform can be put into orbit.When receiving the fixed-point parking command,a series of control commands are sent to the platform driver to realize the platform parking in the specified position and direction.The system is tested with the center control system of platform motion.The results show that the system can realize the functions of platform on-orbit control,platform movement according to specified trajectory,platform parking in specified position according to specified direction,etc.The results show that the system has reached the design requirements.