The Design And Implementation Of Secondary Platform Motion Control System

With the development of technology,the experimental field and the range of the whole physical simulation experiment of spacecraft rendezvous and docking are continuously expanding.It is difficult to satisfy the requirement of flatness in simulation experiment.As the isolation device between the experimental platform and the experimental equipment,the secondary platform can reduce the requirement of the flatness of the experimental platform.The secondary platform itself is made up of many subsystems.In this paper,the design and implementation of the horizontal servo subsystem and the dynamic leveling subsystem are completed.The core function of the horizontal servo subsystem is to isolate the running load from the experimental platform and to provide a dynamic seamless operating surface for it by real-time tracking of the running load.The core function of dynamic leveling subsystem is to adjust the attitude of secondary platform top surface in real-time,eliminate the platform oblique,so as to ensure the horizontal servo subsystem provides seamless operation plane integral smoothness.First of all,the whole structure of the system is introduced,and the mathematical model of each subsystem is obtained by mathematical analysis and model identification.After that,the fractional order PID controller is designed for the horizontal servo subsystem simulations,and the influence of the controller's parameters on the system performance is summarized according to the simulation results,which can be used for subsequent debugging.The compound control is designed for electric control part simulation of the dynamic leveling subsystem,which can improve the response speed with the system stability unchangeable.The neural network PID controller is designed for the pneumatic control part simulation of the dynamic leveling subsystem,and the adaptive ability of the system is enhanced by using the on-line self-tuning characteristic.Finally,the communication protocol between subsystems is designed,and the control algorithm and the host computer software are implemented.Verify performance metrics through system debugging.