Multi-dof Motion Platform Control Sysetem Design

With the development of national defense and military industry, there is urgent need to develop flight deck control technology for carrier aircraft. In order to offer a verification platform for solving the key technology of flight deck take-off and landing, this paper designs a multi-DOF motion platform system, solves key technical problems such as mechanical structure, control software and hardware, the double closed loop control law, and verifys the platform system performance by the integrated test.Firstly, this thesis gives the mechanical structure modification scheme for the multi-DOF motion platform, analyzes its kinematics theory, builds constraint equations and derives the analytical solution of the inverse kinematics. And a kinematics solution with high accuracy and fast convergence is put forward to provide an important basis for the system control.Secondly, from the task and performance requirements, a control system scheme of hardware multi-DOF motion platform based on DSP is presented, focusing on the design and test of the control module, power module, sensor module, wireless communication module, motor drive module etc..Thirdly, for multi-DOF motion platform control requirement and hardware scheme, this paper gives the control system software module design function, completes the design of interface programbetween the main controller and the motor driving module, sensor module and wireless communication module, realizing the overall design of control software based on each module. Moreover, this paper researches on the control strategy of motion platform by putting forward a double closed loop control system based on PID control law, and presents a compensation kinematics based on PID control strategy for the attitude loop, which validity and feasibility is verified.Finally, this thesis integrates the multi-DOF motion platform hardware board and the flight control software, has the DSP main control board performance test, each interface module testing, control software integration testing, and PID parameters setting. The test results show that software and hardware of control system designed in this paper has the characteristics of reliable operation and satisfied real-time performance, meeting the precisionrequirement of multi-DOF motion platform.