| Motion simulation platform can provide position and attitude required to experimental model dynamically. With the rapid development of our national economy and the aerospace industry, some key technical problems need to be solved in the development of aircraft equipment design, it is very important to study the physical simulation experimental system for real-time simulation of aircraft movement, performance improvement of motion simulation platform is more urgent. Because the hybrid mechanism has the advantages of serial mechanism and parallel mechanism in a body, it becomes a research hotspot, and it is widely used in CNC machine, robot, motion simulator etc.This subject comes from the "Development of wind tunnel virtual flight test platform based on parallel mechanism with low speed". This paper aims to develop the control software for the motion platform based on the open CNC system. According to the open CNC system development pattern, the software with the method which combine the IPC with the independent motion controller is developed. In addition, the system uses electronic cam control mode of the open numerical control system to meet the motion characteristics of platform, large amplitude, high frequency, for example.Firstly, the source of the subject, background and significance of the research are introduced, according to the requirements of motion simulation platform, work principle of the platform are analyzed, the inverse and forward kinematics of the parallel part are analyzed. Jacobian matrix is established.Secondly, the kinematics equation of freedom motion simulation platform with the redundant degree is established, and optimal performance index function and appropriate factor is selected, the effect of multiple targets fusion control performance index is determined, the gradient projection algorithm is used to trajectory optimization of simulated moving platform, and these improve the performance of active joints displacement and speed of the parallel mechanism.Thirdly, the hardware part of the motion simulation platform control system is analyzed, the idea and method of software design of software engineering, object-oriented method, the UML design method, the software development tools and development environment are briefly introduced, the functions of the software non-functional requirements and performance requirements is analysised, completed the construction of the overall frame of software, the kind of serial communication module and the software system is designed, the function of each module is divided, the file management module, static test, dynamic test module, the module of freedom release module, encoder module, data acquisition module are designed and implemented, the corresponding flow chart and part of the data structure is given.Finally, visual operation interface is achieved,and the control software is implemented using the Microsoft Visual C++6.0as a development tool, and is debugged. The key technologies involved are discussed, for example, the electronic cam and the designing of timer.The debugging of control software has been finished, the system is stable and reliable, and these reach the expected goal. And it provides the reference for the development of similar projects in the future. |
