Development Of The Three Degree-of-Freedom Platform For The Flight Simulator

What the thesis studies is about the development technology of the three Degree-of-freedom platform for the flight simulator and its servo controlling system. According to the requirements, the control system configuration has been finished and the components of control system have been selected. This thesis also introduced the process of designing the real-time control system for the platform. As the key component of flight simulator, the platform with three DOF is a parallel mechanism, and it depends on three actuators to realize motion requirements. As a sophisticated application of multi subjects, it involves in space geometry, kinematics, kinetics, automation, computer science, etc. This paper discusses the mechanism of the platform which can perform two rotation and one-dimensional translation. The principle that the mechanism can perform the above motions is analyzed based on the reciprocal screw theory, and the mobility of the mechanism is also calculated. The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given. It is a quite bold and novel design by employing the electro-mechanism actuator. Designed in a distributed style, the servo controlling system includes the main computer controlling for arrangement of the whole platform motion and the basic computer controlling for close-loop speed servo controlling. VxWorks is chosen as the OS of the main control system because of the requirements that the control software must have good interface and be easy to use. It is significant to get a high resolving timer on the main control system. UML-RT is used to analyze and design the complex real-time system. In order to improve the dynamic performance and the stability of the servo system, lots of experiment is applied. The experiment of the simulator proved that the whole design of the simulator is perfect.