The Research And Development Of 3D Flying Performance System For Acrobatic Stage

In the national 12 th five-year science and technology support plan program, "the stage artistic design and stage effect integrated system" was set up specially by the ministry of science and technology as the important studying direction, by using a variety of stage technology comprehensively to build a large modern stage. This research is a sub topic of "the development and application for the four dimensional acrobatic stage mechanical system" which is the national 12 th five-year science and technology support plan subject, through the research and development to realize acrobat flight performance along the given space trajectory.In this paper, on the basis of analyzing the stage equipment and control technology, 3D flying performance system of acrobatic stage was studied and designed combined with the function requirements of acrobatic performance. In order to improve the existing traditional wire motion lag and sloshing and other defects, the four axis CNC 3D flight control scheme was adopted in the system, which mainly involves mechanical part and control part. The automatic rope mechanism, the diameter of wire rope and the limiter were designed and calculated by using the mechanical design technology, effectively ensuring the security and reliability of the system operation. Combined with the characteristics of stage mechanical structure, the interpolation algorithm of space straight line and circular arc was studied and analyzed, and the system error compensation algorithm was given. With the efficient digital processing ability and powerful motor control function of the DSP, the multi-axis motion controller which is based on SPC3&DSP was designed and developed, which can communicate with IPC by PROFIBUS-DP to realize the four axis control. In order to prevent the stepper motor from losing step and improve the control precision, closed loop control mode was adopted to control the stepper motor. The uC/OS-II that is a real-time operating system was embedded into the DSP.The system can receive the control command from the upper computer and can also feedback the field equipment status to the upper computer in real-time, achieving the upper computer monitoring function for the field equipment. The system controls the stepper motors that are located on the four corner points of the stage by the multi-axis motion controller to finish the acrobat flying along the given space trajectory, effectively improving the flexibility of acrobatic stage flight performance.