Wide Range Translation And Dynamic Balance Simulation Platform Electrical System Design And Research

Air bearing platform has important position in aerospace history. It has a history of more than 50 years. Air bearing platform can be classified according to the degrees of freedom, including the three degrees of freedom of the satellite attitude simulation air bearing platform, the five degrees of freedom of rendezvous and docking platform and so on. But on a larger scale mobile aspect, there are limitations. So in this paper I research on that key technology, namely wide range of translation and dynamic balance simulation platform.Test platform consists of two main parts. The first part is responsible for the wide range of platform through the combination of air feet and omnidirectional wheel. Air feet are mainly used to support part of test platform’s weight and omnidirectional wheel is used for the omnidirectional translation. The second part is responsible for dynamic balance, which is realized by voice coil motor and measured through tilt angle’s acquisition system made up of CCD. The wireless serial port to industrial PC is responsible for the control of voice coil motor displacement so as to realize the purpose of leveling.In order to accomplish the above two main parts, I calculate and successfully select main actuator, sensor and control board. Then I build the kinematics model of omnidirectional wheel and the upper platform in order to control motor in accordance with the instructions. Then I model the voice coil motor which is the main executor in dynamic balance simulation platform. Then make the simulation of motor’s current loop and speed loop. And the neural network adaptive PID correction is applied to the motor’s current loop. Finally I make simulation of whole system and verify system’s suppression on the migration of mass center and ground roughness.Finally I introduce software design, hardware design and debugging according to the experimental platform, including hardware connection diagram of tilt angle ’ s acquisition system, the system of multithread programming, as well as the design of two main board cards, namely, USB to CAN and the synchronous control card. I finally explain the CAN bus debugging, the laser sensor, programming of DA card and test the WINDOWS timer accuracy.