Research On The Control System Of 6-DOF Platform Based On PC104 Bus

Six-degree-of-freedom platforms, being assisted by six actuators, can move and rotate separately or unitedly in three directions of X, Y and Z. The application of a platform, according to its characteristics, can be categorized in two aspects, manipulator and motion simulations, which are widely applicable. In the paper, main purpose is to investigate six-degree-of-freedom platform based on PC104 bus in the term of hardware circuit and control algorithm.First, history and state-of-the-art of six-degree-of-freedom platforms were presented in the paper, so was configuration of distributed control systems subsequently. The designing scheme was outlined and method based on PC104 bus was brought forward to meet the specific requirements.The technical background of six-degree-of-freedom platforms was introduced. Meanwhile, motion properties and testing indexes were listed, In combination with mechanism theory and mathematical model, motion properties, such as the solution to the forward and inverse kinematic problems and spatial position, were analyzed.The details of hardware circuit, including the chip type and chip feature, were described and circuit diagrams of each modules that can convert and transit data quick and accurately, were offered.Finally, the control algorithm was researched and the advantage and shortness of three PID algorithms that are traditional PID, position PID and increment PID, were introduced respectively. Simulation results show that PID feedback control can preferably track the delay in the system. To advance the performance of the system, BP neutral network was adopted for online tuning of parameters and the program in Matlab was submitted in the paper.