Development Of Dynamic Motion Simulator With 6-DOF And Its Control System

"Dynamic movie", also called "simulation film system", formerly known as "Dynamic Motion Simulator". Dynamic movie, which came from the Flight Simulator for the U.S. military pilot training, was introduced in the 1990s. The mystery of dynamic movie is that the audience seats will make synchronous activity following the evolution of the plot on the screen, so it brings the audience a more adventure and realistic immersive feel. As a representative of the participating entertainment project, dynamic movie was known and accepted by more and more domestic audience in recent years. At present, the domestic dynamic movie technology is not enough for mature, and also has a big disparity with the same products abroad. Therefore, the development of Dynamic Motion Simulator with .6-DOF and Its Control System has important significance。Due to having a great application potential and value,6-dof parallel mechanism attracts many scholars and research institutions. From the 1980s, western developed countries began to conduct research in this field, and has obtained many achievements. Because of starting late in the research of 6-dof parallel mechanism, no matter in design and manufacture or in motion control aspects, our county has a great gap compared with the developed countries. Accordingly, study of 6-dof parallel mechanism and development of a fine performance equipment mean great value.According to "the key technology and equipment research of dynamic movie" which is branch of an important project of science and technology development program of Jilin Province, this paper mainly studied six-dof motion experience equipment which is based on 6-SPS parallel mechanism, and developed prototype equipment and control system.As a kind of entertainment simulation platform, Dynamic Motion Simulator with 6-DOF has some differences compared with parallel robot and parallel machine etc. It has higher control precision requirements on the movement speed and sudden accelerated speed, but do not require high on position precision. And request control system can respond rapidly, mechanical structure has certain carrying capacity. In addition, the requirements for workspace of the sports simulator are relatively high. Based on comprehensive consideration of the characteristics of 6-dof motion simulator and the technical indexes of this project, this paper developed the structure of dynamic motion simulator with 6-dof, including the selection of mechanical structure, the general parameters determination and parts design, etc. And through the Kinematic simulation,the prototype structure showed a reasonable structure design. Finally, the machine assembly work was done. Based on the structure of "IPC+motion control card" which is the master-slave control structure, this paper developed a control system. IPC is responsible for human-computer interface management, trajectory planning, control commands sent, the system status display, etc. And the control card is responsible for the motion control details of the pulse and direction signal output, the processing of speed automatic lifting, origin and limit signal detection, etc. Digital servo drive unit was selected as implementing agencies, it has the advantages of accuracy, stability, and fast response. To facilitate the connection of hardware circuit, the peripheral interface board, which including the communication lines between the control card and servo drive systems or limit switches and the power supply module,is developed in this paper. Subsequently, the control system control cabinet and other peripheral equipment is developed. Finally, The hardware control system is build.This paper studies the design requirement of control system of dynamic motion simulator with 6-dof, mainly focuses on control flow, functional modules and trajectory data processing. Considering the advantages and disadvantages, the software is developed in a way which combine both of Visual C++6.0 and Matlab. Based on Windows xp system and modular design, the overall framework of control system software is developed with VC++6.0 which is object-oriented programming language. The control system software is divided into upper and lower machine software. The upper software, which is developed using Visual C++6.0, is responsible for system management, status display and data processing tasks, etc. And the lower software is developed using the programming language of ADT-856 motion contorl card, it's using the powerful computing power of the control card to complete the motion control, limit signal detection and safety monitoring, etc. By calling the dynamic link library (DLL),PC and ADT856 control card complete the task of motion control together. This control software consists of initialization (including the initialization of motion control card and electric cylinder), motion control (including functions of servo enabled, manual testing, movement stopping, etc), data processing, condition monitoring (including the speed feedback, limit signal detection, the status monitoring of servo motor and control card operation,etc) and auxiliary function modules (including parameter settings and IO signal testing function). Using open architecture and modular design, the maintainability and reusability of the software is improved.