Error Characteristics And Control Of 6-DOF Integrated Tank Simulator

As the equipment for simulate combating on the road, Tank Simulator which based on parallel robot is took for drive and fighting training instead of the real Tank. Nowadays Tank Simulator is widely used for its advantages such as it is not restricted by time, climate and place while training. Taking the 6-DOF integrated Tank Simulator as the research object, this paper studied its structure, kinematics, error, screw coupling and control system which has a significance in depth study for the smooth moving control of 6-DOF integrated Tank Simulator.Based on the study of domestic and foreign research about Tank Simulator and parallel robot, the kinematics model is builds for analyze the velocity and acceleration as well as error molding. The dynamic model is also established to provide a theoretical basis for designing hardware of controlling system. Besides, the simulation analysis of molding is also taken.The error molding of 6-DOF integrated Tank Simulator is set up according to studying the molding methods. Based on the geometric parameters of Tank Simulator, this paper takes an example to research error molding. The results show that moving plate error appears nonlinear variation along with the same length error of legs in the linear changing positions.The screw coupling of 6-DOF integrated Tank Simulator is analyzed in Plucker coordinates which use screw theory. Through deriving the coupling angle and velocity based on inverse kinematics model, the error of moving plate is calculated with the error molding. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the screw coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude and prolonging service life of Tank Simulator. This paper processes positive research for motion control of Simulator.According to the performance comparison of drive mode and the characteristics of 6-DOF integrated Tank Simulator, this paper took electric as its own. The hardware and software of controlling system is designed. Besides, this paper also design and debugging the control cabinet.