The Control System And Software Design Of Three-axis Simulator

Three-axis simulator is the critical equipment for the hardware-in-loop simulation.Its performance directly indicates the property of the inertial navigation and guidance sys-tem. This paper comes from an actual project, more focus on solving practical engineeringproblems. This paper discusses the process of designing and developing three-axis sim-ulator control system, and a number of important issues encountered are also discussed.On the background of the task, this paper designed three-axis simulator special controlsoftware by Visual C++6.0.The controller design of three-axis simulator was studied. Firstly, a mathemati-cal model was obtained based on theoretical modeling and system identification method.Theoretical modeling is used to acquire the basic construction of a model, system iden-tification is used to obtain the accurate mathematical model. Based on the mathematicalmodel, a digital controller for engineering using was designed. The PSO algorithm wasapplied in controller’s parameter tuning process, using the tuned controller to simulate inMatlab/Simulink environment, the simulation results showed small steady-state error, fastresponse and good follow-up performance.The hardware design based on IPC and data acquisition cards was studied. Theoverall hardware design, the selection of the main components, the detail design of driverinterface, the energy unit, the input and output unit, the angle measurement unit and thedesign of electromagnetic compatibility were completed. Use of such hardware archi-tecture system, the electromagnetic compatibility, reliability and the ease of maintenancewere greatly improved in the simulator control system.The software design based on RTX was studied. The software is divided into Win32process modules and the RTSS process modules using the modular design method, thesemodules are independent and coordinate each other. This paper studied the developmentmethodology for PCI board drivers, the construction of the RTSS real time process andshared memory, the interrupt configuration of PCI devices, the design of homing algorith-m of the encoders with distance-coded reference marks. At the end, the modules of thesoftware were tested, the test results showed that the software met the real time require-ments and had a good interactive performance. Based on the above work, the paper tests the outer axis of the three-axis simulator,the position precision and speed precision results meet the requirements.