The Research Of Electric Simulator System Of Space Robotic Manipulator

Electric simulator system of space robotic manipulator makes it possible that the researchers could study dynamic character of space robot via computing ability and visual presentation of computer in space, and validate algorithm of modeling and controlling based on testing platform on the earth. This dissertation mainly focuses on the electric simulator which is an important part of the electric simulator system of space robotic manipulator. The system is consisted of central control computer, dynamics simulation computer and electric simulator etc. It aims to test the validity of the communication between each part and their ability of implementing the tasks in space orbit. The paper's mainly innovation lies in the design of the hardware structure. Compared with the traditional structure of the CAN communication in the electric simulator, the paper established three CAN bus communication structures. In the internal CAN communication structure of central controller, the paper presents a dual-redundant CAN structure. Different from the traditional dual-redundant CAN structure which uses two CAN controllers, this dissertation uses a single CAN controller and a 74HC4052 chip to connect two CAN bus. The other innovation is LCD module interface circuit. It connects with both DSP and CPLD in the same circuit just by a simple connector without separate design for them, which greatly enhanced the circuit flexibility and save a lot of circuit space.The main works in this thesis are described as follows.First, the paper establishes mathematical model for robot manipulator and conducts kinematics analysis with both positive and inverse transform formulas of kinematics, introduces robot path planning and proposes two path planning Algorithm of joint space.Second, the paper establishes mathematical model for brushless DC motor, modeling and simulation in MATLAB in accordance with the selected electrical parameters of manipulator system. According to the electrical characteristics and the actual robot control requirements, the overall model of servo system is designed, and the paper set up a PID controller consisting of current loop, velocity loop and position loop. Meanwhile, modeling and simulation are administered for the servo control system in MATLAB from which make a preliminary analysis of the dynamic properties of the system. The parameters of PI regulator are identified according to the result.Third, the hardware circuit platform of electrical simulator is designed. The main tasks for electrical simulator include the design of the overall plan of the hardware circuit, the verification and selection of the main circuit hardware devices, the design of the principle of the modules, the CPLD in-system programmable logic circuit design, PCB board system, as well as debugging, modifying and optimizing hardware circuit.Fourth, the paper conducts the design and optimization for LCD interface and Display Module software. LCD interface is connected both with a DSP and a CPLD. It provides an alternative choice with the connector.Fifth, the paper realizes the software design for electric simulator in the CCS of DSP's development. The organization of software architecture is designed based on program loop and interruption of CPU. The software framework includes the process design of master management, the software design of CAN bus communication and high-level application and the realization of servo control.Finally, the paper designs testings for the electric simulator. The relevant performance testing includes single board testing and system testing which goes with hand-eye simulator and joint simulators. The final design is optimized on the basis of the previous design and practical tests.Final test results show that the design for the simulator hardware platform is reasonable, that CAN bus communication is stable, that tracking servo control system performs is well, and that simulation tasks are real and reliable.