Development Of Two-dimensional Motion Trestle And Study Of Multi-axial Coordinated Motion Control Method

This thesis is based on the development process of a two-dimensional trestlecontrol system used for weapon system testing and discusses in detail about thestructure design and software development procedure of the trestle control system. Thethesis also researches on multi-axis coordinated control method.Firstly，the thesis introduces the development procedure of the two-dimensionaltrestle’ s mechanical structure and control hardware. The trestle’s mechanical structureconsists of an erect column and a precise positioning platform. The control hardware isconstituted of an advanced PMAC card (lower computer) and an industrial controlcomputer (upper computer). Then the software development procedure for motioncontrol is introduced. The upper software of control system is designed with Delphi tofulfill the functions of command sending, information acquiring and processing. Byusing special PMAC instructions, the PMAC parameters are set and the lower computersoftware is designed to achieve varied motion trajectory control and real timemonitoring.Finally, in view of the system’s requirement for high accuracy to the motiontrajectory, the thesis studies related theories and technologies of multi-axial coordinatedmotion, especially the cross coupling control methods. On the basis of this, simulationsand analysis are made by establishing a mathematical model, which proves that thismethod can effectively reduce the system contour error.