Study Of The Servo System Of Motion Platform With Six-degree-of-freedom

The paper is mainly about the structure of one six Degree-of-freedom simulationmotion platform and its servo controlling system. As the key component of flight simulator, the Six DOF motion platform is a parallellyconnected kinetic instrument, and it depends on six actuators to realize motion requirements.As a sophisticated application of multi subjects, it involves in space geometry, kinematics,kinetics, hydraulic transportation, automation, computer science, etc. The main purpose of this thesis is to improve the dynamic performance of the servosystem in the motion platform. Great progress has been made through the research activitiesin hydra-static bearing actuator, data filtering treatment and controlling arithmetic structure. Designed in a distributed style, the servo controlling system includes the main computercontrolling for arrangement of the whole platform movement and the basic computercontrolling for close-door position servo controlling. New data filtering codes have beenadded to the close-door controlling program, which has improved the stability of the servosystem. It is a quite bold and novel design by employing the hydra-static actuator. Several kinds of controlling arithmetic have been discussed in the thesis. Consideringthe limits of devices available, the controlling policy is finally settled, in which PID is usedto fulfill the close-door controlling of position and force forward feedback compensation isemployed to improve system robust performance. In order to improve the dynamic and robust performance of the servo, under the newdeduced mathematic mold of servo system, the structure unchangeable principle is used todeduce compensation for all the disturbing factors. Lots of testing data show that throughthis way, the servo system has gained sound improvement of dynamic response and thestability under the influence of variable pay-load.