Study Of Algorithm About Simulator Motion Control System

The vehicle simulator is a key device of the infrared guidance Hardware In LoopSimulation System (HILS), which can provide a photographic scene to imitate the variouscharacteristics including target and interference. As important as a nerve center, the motioncontrol system (MCS) plays an indispensable role in the working process of simulator.The major research object of this thesis is the control algorithm of the MSC whichcontains computer, driver unit, servo motor, feedback encoder and several motionmechanisms. The control algorithm is researched to facilitate successful simulation with thehardware working coordinated. For analyze conveniently, the system parameters are dividedinto simulation parameters (SP), motion mechanism parameter (MMP), motor controlparameters (MCP). The research target of the control algorithm is the conversion betweenthree kinds of system parameters, and software application of the control algorithm.In this thesis, we study the conversion relationship between SP and MCP by theoreticalderivation and analysis based on the mathematical model, while the relationship of MCP andMMP is acquired by experimental measurement. For different motion mechanism differentmethods are taken to achieve the conversion parameters with more process of theexperimental data, curve fitting with different function depending on different motionmechanism and calculation based on the variable coefficients of the curve fitting equation.The control software is divided into four parts according to the technical requirement,and the control algorithm is mainly applied in static testing and dynamic simulation of twoparts. In static testing part the set MMP are converted to MCP, and in dynamic simulationpart SP in the simulation instruction will be converted to MMP and then MCP. When MCPare collected, the software will call appropriate function to complete the application of thecontrol algorithm by controlling the motors movement to the designated location. Besides,more experiments show that this control method is accurate and reliable, and meanwhile ableto meet the system’s control requirements.