The Design And Implementation Of The 5-DOF Swing Platform Control System

There are few studies in 5-DOF swing platform, however, in device detection, posture simulation, and weapons firing, this platform has very broad areas of application prospects because of its economy and practicability. The main task of this paper is to design a practical control scheme in connection with the performance indicators and working characteristics of this platform.At first, according to performance indicators of the platform, this paper briefly describes the overall design formula which involves the mechanism design of the platform, the program design of overall control, the hardware system design and software system design. And then, this paper selects the components of the system on the basis of stress analysis.Secondly, the paper calculates the inverse location equation which is the basis for the design of control. At the same time, this paper puts forward an algorithm for position forward solution of this swing platform. The Simulation results found that this method met the precision and real-time requirements.Thirdly, according to the knowledge of fluid mechanics, this paper poses the mathematical model for the hydraulic system, and gives a comprehensive analysis of the controlled object. It includes system stability analysis, promptness analysis and error analysis. And then the paper designs an electro-hydraulic position servo control system and demonstrates that PID control has its own shorts in complex conditions such as time-varying and uncertainty. Next, a PID control strategy based on RBF neural network is proposed. The simulation result shows that this method can deal with complex changes in the system, has strong anti-interference and adaptive capacity. At the same time, it can meet control requirements.At last, by vector method, this paper calculates the first-order and second-order influence coefficient matrix of the platform and derives the velocity and acceleration positive solutions equations of the mechanism. The numerical calculation result proves that the velocity and acceleration of the platform meet all performance targets requirements.