Control System Design And Algorithm Research Of 6-DOF Platform

With the development of science and technology,in the field of motion simulator,the application of 6-DOF platform is constantly expanding and deepening.The working conditions that simulator needs to simulate are becoming more and more complex,which brings more stringent requirements on the performance,dynamic simulation range and precision of the simulator.This brings a series of higher requirements to the 6-DOF platform,from the initial structural design,the processing and assembly of components to the design and construction of the control system.The purpose of this subject is to develop a control system with high performance,stability and expansibility for the existing electro-hydraulic 6-DOF platform in the State Key Laboratory of fluid power and mechanical and electrical engineering,School of mechanical engineering,Zhejiang University.The difficulties of implementing the control system mainly lie in the design and realization of the software and the research of the control strategy.The main contents are as follows:In chapter 1,the source and background of the subject,and the purpose and significance of the research were explained firstly.Then a briefly introduction of the structure characteristics,the application in various fields and research status of the 6-DOF platform were made.Finally,we give a brief overview of the main contents and objectives of this subject.In chapter 2,we mainly analyzed the mathematical mode of the 6-DOF platform,including the kinematics model,the dynamic model and the cylinder servo control system mathematical model respectively,which laid the foundation for the follow-up simulation and control strategy study.In chapter 3,after the hardware system design of the control system,the software development platform was built based on the hardware environment.Then a detailed requirements analysis was made.Based on the requirements of the control system,the overall architecture of the software and the detailed design and implementation of each module were made.Finally,the overall control software was tested in detail.In chapter 4,the fuzzy PID controller of 6-DOF platform was proposed and designed after a brief introduction of the principle and the advantages and disadvantages of common PID controller,considering the nonlinear characteristics of 6-DOF platform.Then the simulation model of 6-DOF platform was established based on the mathematical model the cylinder servo system in the Simulink environment.Finally,system simulation and result analysis of the platform were made under the PID controller and fuzzy PID control strategy respectively.In chapter 5,firstly,we gave a brief introduction of the experiment system.After that,the system evaluation criteria was proposed according to the experimental content.Finally,the system responses of the platform were studied based on the conventional PID controller and fuzzy PID controller,given control signals in different motion frequency and motion amplitude.In chapter 6,the research work of this thesis is summarized,and the deficiencies in the research process are discussed.