Research On The Control System Of The Parallel Platform And Its Key Technology Based On The "PC&ADT Card "

The parallel mechanism simulation platform in the laboratory can be used to simulatethe6-DOF movement of the ship in the ocean. Shipborne equipment being used for thesimulation platform can reduce sea trials which has characteristics of safety and economy.At the same time, the students not only need to acquire the relevant knowledge ofmachinery but also need to expand the control and other aspects of knowledge and enhancethe abilities of innovation and hands-on practice due to the development of mechanical andcontrol technology. The purpose of this study is to develop the6-DOF parallel experimentplatform as the teaching laboratory equipment based on the prototype structure of theclassic parallel stewart platform.In this paper, the control system of6-UPS parallel platform is studied by bothhardware sides and software sides and the aim of the paper is to achieve a high-speed,high-precision parallel simulation platform. First, problems of inverse kinematics andforward kinematics of mechanism are discussed, then the singularity problem ofmechanism and its solving work spaces are studied, secondly, the complete dynamicscontrol model is established, finally the platform control system is designed includingsoftware control algorithms and hardware driver control components.Specific research work in the following areas:(1) Research of the kinematics of the6-UPS parallel platforms. the curve of drive rodlength with the moving platform bits posture changing is established by software,focusingof its kinematics solution:mathematical model is buit by the study of numerical method;positive solutions are obtained by mathematica software with Newton iterative algorithmwhich improves the computational efficiency and avoids leakage solution.(2) Research of problems of singularity and work spaces. The Jacobian matrix isworked out by anti-solving equations and by solving its determinant, the analyticexpression of singularity track is worked out; three-dimensional singular locus are obtainedby the application of mathematica software.Then, singularity equation as a constraint isapplied to solving of workspace and no singular work space can be obtained with thesearch method.(3) Research of the control system modeling and its linearization problem.Lagrangian method is used to establish the dynamic model and the driving force isgeneralized by its calculation of software. Then by matrix transform the state spaceequation of the control system is buit and a linear algorithm to obtain a linear state space iswrited which lays the foundation for the control system.(4) According to the research object, using the adoption of proportional switchinglaw to design conventional sliding mode controller and by software emulation to analysisthe control performance. The design of principles, methods and procedures of fuzzyadaptive sliding mode controller are introduced detailedly and tracking analysis andsimulation ofs oftware are also finished in this paper. The result shows that the intelligent control methods can ensure the stability and robustness of the control system and has a verygood track performance, high precision, small error, fast response characteristics.(5) The control system is buit by the six-axis motion control card as core ofhardware.The overall structure and various features of the control system are designed andfocusing of the analysis of installation and communication connection between motioncontrol cards and various hardware features to build a complete control of the hardwareplatform.