Development Of Control System For 6-DOF Electric Platform

6-dof Parallel motion platform is characterized by the high rigidity, suitable for real time control, low error rate and high precision. It is a new type of Product developed in the recent years.6-dof Parallel motion platform is widely used in many important applications such as aviation,spaceflight, auto-motive industry, shipping, medical instrument, biological engineering and amusement and so on, thus becomes a new heating field of study. These years, the research for the 6-dof Parallel motion platform's real time control method interests many scholars all over the world.The composition of the 6-dof electric platform are introduced firstly in this dissertation. Three-dimensional model is established based on the SolidWorks software.The kinematic model of 6-dof electric platform is also established and the inverse kinematics of the 6-dof electric platform is analyzed by the vector analyses approach. This result is base of the software of the real time control.This dissertation applies the current high-powered servo controller MAC made by Harbin institute of Technology BoShi Corporation as the main body, based on "IPC+MAC", constructed an open numerical control system of 6-dof electric platform. The control software is designed with the functional modularization, based on Windows Operating System. The basic control functions of 6-dof electric platform are realized.This dissertation described the overall structure and parameters and functions of the components of hardware system. The function of this applied software program is developed with Visual C++, and the main modules are introduced in detail in this dissertation. Fault Protection System and Fault Monitoring System is established, and the components and the implementation process is described in detail.Experiments were performed based on the control system for 6-dof electric platform. The high positioning accuracy, better moving stability, lower vibration, less noise, etc, are shown in the operation of the 6-dof electric platform. And also, when failure occurs, reliable protection is realized, Servo failure of 6-dof electric platform can be timely monitored, consequently demonstrate the validity of hardware and software and the reliability of Fault Protection System and Fault Monitoring System.