Design And Control Strategys Of 6-DOF Platform

The 6-DOF swing test platform is an experimental equipment that is mainly used to simulate the kinetic posture of airplanes, vessels, space flights and vehicles. It adopts parallel mechanisms, hydraulic pressure drive and real-time control by the computer, and simulates pitching, rolling and turning, leeway, departing and landing of the warship. This thesis has carried on the design and research to the 6-DOF swing platform system.Firstly, the mechanical constitution and operating principle of the 6-DOF swing platform are analyzed. According to performance index of the system, the mechanical entity is introduced in the article. Meanwhile, the models of electro-hydraulic servo valve, constant force variable pump, servo pneumatic cylinder are selected, as well as the displacement sensor, whose performance index has been experimented.Secondly, The scheme of control system was demonstrated and the type of hardwares were confirmed through the design of the hardwares and softwares of the 6-DOF swing test platform. The mathematical model and the transfer function of the system established which takes pneumatic cylinder, electro-hydraulic valve and displacement sensor into account. The method of single pneumatic cylinder control is put forward, and the control experiment of single pneumatic cylinder is executed.The control method based on asymmetrical hydraulic cylinder controlled symmetrical valve is studied. According to the development methods with experiment data, a more satisfactory result is gained.Finally, the inverse solution about the kinetic posture of swing platform is analyzed in detail in the paper. According to the inverse solution, a control method of swing platform is put forward. The trajectory of 6-DOF swing platform is studied in the paper. At the same time, a model of motion platform is drawn by OpenGL Shading Language under VC++ 6.0 environment. Through the emulational system on machines, the method of system control is proved.