Control System Design And Implementation For6-DOF Electric Platform Based On RTX

Six degree of freedom (DOF) simulation platform could make its payload-platformmoved with6-DOF in the workplace by controlling the six linear actuators stretching out anddrawing back. As the result of its character, high rigidity, high precision and low error,6-DOFplatform is extensively used for simulation experiments of weapon aim systems fixed on cars,ships, and airplane. And in the field of simulating and training system for drivers, sailors andpilots, biological engineering and amusement, it could be seen.Based on the6-DOF platform, the project has completed the principle design accordingthe system requirement, and then finished the hardware circuit and software module of servocontroller. The research is focused on the design of system, kinematics theory and theresearch of real-time soft.Firstly, the function and principle of the6-DOF platform is analyzed. And then,according to the controller requirement, the hardware circuit, gathering data and disposing,and the frame of software are designed in detail.Secondly, depended on the analysis of the principle, inverse kinematics (IK) equation of6-DOF platform between the payload-platform and the linear actuators is derived bytheoretical research through matrix analyses. And a numerical method of forward kinematics(FK) for real-time control brings up. And then the software designed and debugged bases onthe theoretical principle.Finally, according to the system request, the real-time software system is developed withVC++6.0, which is an object-oriented programming language, by adopting modular design onthe “Windows+RTX” software platform. Compared with simplex Windows, the controlsystem owns better real-time character.