Control And Realization Of The Stewart Platform Based On LabVIEW

Based on a completely new design project of next generation large radio telescope integrating tectonics and optics technologies proposed by Professor Duan, this paper studies the fine-tuning Stewart platform, control strategies and other related issues, then design a RC-NLPID controller to realize the high precise trajectory tracking for the high requirement of trajectory tracking of the feed-supporting system with large span cables; Software of control system of the Stewart platform is reasonably developed from engineering application. All these can be summarized as follows.1. To analyze the hardware of the new Stewart platform control system. Then the inverse problems on Kinematics of fine tuning Stewart platform, system control strategy and distributed motion control system based on SynqNet is researched.2. To research the theory of non-linear PID Control and repetitive control. Non-linearity PID control has a strong anti-interference ability, fairly good adaptability and robustness. Repetitive control has a high-accuracy tracking an effect to the period signal and it also can restrain the period disturbance signal. So the RC-NLPID controller is designed, considering respective merit of repetitive control and non-linearity PID control. Then this paper carries out the simulated experiment, taking single servo system as an object. The result of simulated experiment indicates the control algorithm validity.3. LabVIEW is the most popular virtual instrument software at present. The development speed of software can be improved greatly using with LabVIEW. Based on the requirement of project, this paper develops the software of control system of the Stewart platform with LabVIEW. Then it introduces the exploitation process combined c with LabVIEW in details. The experiment verifies the reliability and feasibility of control algorithm, trajectory plan, software and hardware.A firm foundation for constructing the new generation large radio telescope with the collecting area of 500m is placed from the theory and engineering.