| The vibration between shipboard equipment and the ship itself can be isolated by the On-Ship vibration isolation platform. It can ease the effects of random vibration between shipboard equipment and the ship itself due to the impact currents, storms and other outside weather conditions while sailing. It has broad application prospects to develop a practical and efficient implementation of the control system for the On-Ship vibration isolation platform to minimize the effect of vibration.The research in this paper is based on a 4UPS-P-type parallel mechanism of active vibration isolation platform, kinematics and trajectory planning, design and development of vibration isolation platform control hardware and software. First, the properties of 4UPS-P-type parallel mechanism is analyzed. On the basis, the parallel mechanism kinematics is analyzed, and the solution of the kinematics is obtained by inverse vector method. Get target position of four axes respectively through inverse kinematics, so that the offline data of four axes is calculated through interpolated trajectory planning. "PC + EtherCAT bus" is used as the overall control scheme of the control system. On this basis, a totem control cabinet as the control vector of the system is designed and selected. The overall layout scheme of the control and drive cabinet are respectively planned in great detail, and the central control unit is designed as a control cabinet control module. Various sub-modules and circuits of the control system are also designed and planned in detail. Eventually, the hardware of the control system is fully built. Then, based on the overall control scheme, a three-tier isolation platform software is developed, and the PLC function of the software, ADS communication function between the PLC and the upper VC program, the logical structure of the upper control software and MFC software interface are all written and packaged. It also includes oscilloscope module, system log module, home return module, system reset module, the system detection module, etc. Finally, commission isolation platform hardware and software systems, the result shows that the desired control objectives is achieved. Carry out an active control experiment, compared the result with the ideal trajectory, and verify the control effect of the control system. |
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