Research On Mobile Equipment Hardware-in-loop Simulation System Based On PAC

With the rapid development of Hardware-in-loop simulation technology, all kinds ofHardware-in-loop simulation systems are widely used in engineering practice, and thus thedepth study of the Hardware-in-loop simulation technology has some far-reachingsignificance.Nowadays the intelligent mobile equipment has been everywhere in practice, inthe development phase of the mobile equipment controller to verify the performance ofmobile equipment and good usability is very meaningful.Under normal circumstances, largemobile equipment are quite complex, more difficult combined analysis of the dynamic modeland controller, in order to solve the technical problems, the paper design Hardware-in-loopsimulation platform based PAC mobile equipment, which can be a good platform to verify theperformance indicators of mobile equipment.In this paper, mobile equipment, Hardware-in-loop simulation system for the testplatform to test the performance and virtual reality motion control system.First, the designand establishment of a virtual prototype model of mobile equipment as a virtual reality motionmodel, and its kinematic analysis, provide a reference for the dynamic model is simplified.Secondly, in Maplesim software for mobile equipment for the overall modeling andsimulation add drivers, output kinetics and dynamics simulation model of C code.Thedynamic model C code compiled under VC++environment to generate dynamic link libraryfiles, available to software platform called the Hardware-in-loop simulation process. Then,based on.NET development platform using C#programming language designed mobileequipment Hardware-in-loop simulation system software platform, to achieve mobileequipment controllers Hardware-in-loop simulation and virtual reality sport.Finally, the paper design of a complete single5V power supply,8-channel, multiplexeddata acquisition system to achieve the sensor data acquisition. The completion of SPIcommunication between the data acquisition system and STM32,and bluetooth wirelesscommunication between PC and STM32.