| The aerial photography is an important part of a concert or big sporting event broadcasting, which can present to the audience a better visual effect if its quality is improved. For traditional photography technology can’t be qualified for this task excellently, the flexible cable-driven camera robot provides a solution for this. Currently mature products abroad have been applied in actual use, while in domestic there are many applications in flexible parallel mechanism, but flexible cable-driven camera robot is only in state of theory. Given this, this thesis will construct a 5 meters model of the flexible cable-driven camera robot, design the control system and control software, and test its performance indicators to determine the feasibility of the control system scheme.First, the structural model of the system is designed and built. Based on the parameters of the system, the kinematics and dynamics are calculated to determine the system’s running speed, acceleration, and movement space. On this basis, the architecture of the control system is designed, and the module of the control system is selected according to the control architecture and system parameter. At last the handle console is designed, its hardware is selected, its power circuit and design to fulfill predefined functions.Second, the control system is configured with the Twin CAT configuration software of Beckhoff, and its parameter is set. Then the control process is designed according to the control system, and PLC program for the motion controller is designed. Finally the mapping of PLC variables and physical module or port of motion control system established. So far, programming of the lower position machine has been finished.In order to program PC software, the programming environment is determined using WPF, and the software interface framework is designed with it. Then the 3D model is established using 3D MAX, Expression Blend and WPF within this framework. The view switching of two view modes and multiple perspectives is implemented. Then the connection between the host computer and motion controller is established, to achieve the functions of refreshing system state regularly and sending the partial control commands. Then the system state is displayed.Finally, a 5 meters physical model and motion control are set up. And the system function and performance tests are done on it. These tests include the relationship between the speed, acceleration and cable length variation in the condition of handle control mode or jog mode, the relationship between system speed and handle signal, and the range of system speed. At last these tests will determine whether index of the system performance meets the requirements and whether this control system is justified. |
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