Decoupling Motion-based 3d Dynamic Platform Control System Design And Research

The mechanical dynamical worktable is an important auxiliary assembly of mechanical manufacturing equipment and some machines for multi-D motion experiments. Its abilities for multi-D motion and location make direct influence on the machine tool's processing ability, and also it is one of the most important facts to decide the efficiency of the machine tool's processing. At present, to locate and process components, with the help of the mechanical dynamical worktable's multi-D motion, has becoming a direction for the development of the multi-axis machine tools. In the mechanical system innovative design, the control system design is always the core link, which also determines whether the designing goal is successful or not. The article starts with the decoupling theory in the structure design, and based on the analysis of the defects and shortcoming of the current dynamical worktable, the conception for the new style decoupled dynamical worktable is described from two aspects, motion space and dimension, and the emphasis of the paper is to design and discuss the controlling system.In the paper, firstly the development status at home and abroad in the fields of dynamical platforms, control methods, control technology and control system is analyzed , the shortcomings are summarized, the development trend is directed; then based on the principle of machine motion, the decoupling conditions are discussed, the designing conception of the new motion decoupled dynamical worktable is proposed, then combined with the structural design, the schemes for space motions, power transmission driving control and servo tracking are designed. On the basis of analyzing the advantages and disadvantages of the traditional worktable structure, the mechanical structure of the new type dynamical worktable is described, the structure characteristics and the working abilities are directed; at the same time, according to the drafted driving control scheme, its detailed analysis and design are given.As the emphasis of this paper, the controlling system contains two parts: hardware and software. The hardware part refers to the whole control structure, the selection and function of all hardware elements, the design of the hydraulic system, the style of assembly and seal, etc. The latter part includes software structure design, control interface design, main control software, controllers'program and communication unit. In this part, in order to realize the automatic control of the hydraulic system, the Siemens LOGO! Module is introduced specially.As far as the control system has been completed, both the two kinds of industrial software Pro/ENGINEER and MATLAB 6.X are used for the worktable's motion modeling and the control system's simulation; then the interferometry between the worktable's components are checked,while the working abilities of the worktable are primarily tested by the model. At last the system's comprehensive performances are evaluated, and also the feasibility and reasonability are proved out.In the end, the achievements are summarized, the prospect for the further study in this field is discussed, and some related improvement suggestions and measures are given.