Design Of Control System Of The Test Platform Of Electric Cylinder On IPC

In this thesis,the control system of the test platform of electric cylinder and itsrelated mechanism was developed. The control architecture of this test platform isIPC+Motion control card and the high-accuracy magnetic scale was used in themeasurement of displacement of electric cylinder.This test platform can obtain theparameters of electric cylinder and process sample data automatically.It can also fulfillthe control or test task of two mechanism derived from electric cylinder.The velocity and the acceleration was obtained indirectly by employing DifferenceQuotient algorithm and Moving Central Smoothing Algorithm in the data processing ofthe displacement measured by magnetic sale.Appropriate measuring algorithm wasselected by comparing the test effect of those two algorithm.The position error of the electric cylinder was analyzed and classified.Based on theposition error data of positive and negative movement,the linear position error wasobtained by using least square linear fit,the nonlinear positon error was calculated byemploying Improved Piecewise cubic Lagrange interpolation algorithm(IPCI).Theposition error was compensated in the control software and the position accuracy of theelectric cylinder was promoted substantially.Based on the analysis and test of the single electric cylinder,the test module oftwo mechanism derived from electric cylinder,which were named Cartesian coordinatemanipulator and H-shaped parallel mechanism separately,was developed and the testmethod of some parameters of them was interpreted.Through kinematic analysis of theH-shaped parallel mechanism and the experiment carried out on the model machine,thecomplete motion control of the H-shaped parallel mechanism was realized.