Real Time Motion Control Of A New Type 6DOF Platform Based On Virtual Simulation

As a kind of space motion simulator, 6DOF platform has a bright application future. During the design period of automobile, 6DOF platform can be used as endurance tester. It can simulate the motion condition of the chassis of a moving car. So it can finish the function and reliability tests indoors to lower the research time and cost. These years, the research for the 6DOF platform's structure and real time control method interests many scholars all over the world.This thesis is aimed to develop a"3-2-1"type 6DOF platform and a real time control method based on virtual simulation, and succeeds in using the new method to control the new platform.Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.According to the real time control experiment of the"3-2-1"type 6DOF platform, it proves that the real time motion control based on virtual simulation is a feasible control method. The designer himself needn't do the modeling and solving of the kinematic positive/negative calculation of the complex space structure and it deeply reduces the needs of the control hardware.The work and result of the thesis will provide basis to develop the practical high precision real time control method of the 6DOF platform.