Research On Embedded Motion Seat System And Its Implementation

The dynamic theater is an extension of Virtual Reality technology.It can build the stereo vision and environment simulation to form a virtual world and provide simulation of auditory,tactile and olfactory senses.Motion seat is a relatively typical application of dynamic theater projects,the motion seat are designed to move according to the plot of the film,the audiences could feel the special effects with synchronized movements of pitches,rolls,and heaves in their seats.This thesis proposes an implementation of the motion seat design with three degrees of freedom(3-DOF)parallel platform.In this thesis,the target of study focus on the 3-DOF parallel platform,the author have developed an embedded motion controller based on STM32 microprocessor,and accomplished the mechanical design of the 3-DOF parallel platform.The motion seat is built based on the electric cylinder,comparing to the conventional control method,it is featured with anti-interference,maintenance free,easy expansion and rapid response speed.This theis completed contents as below:1.This thesis making a briefly introductions about the present research status and key technologies,analysing the deficiencies of the relevant design and the potential project requirements,then build overall design of the motion seat mechanical structure and its control system.2.Analyzing the kinematic simulation of the motion seat platform by Admas,the inverse kinematics problem is solved,and the feasibility of the the structure design are verified.3.The platform applies the 3-DOF parallel mechanism,the main supporting part of this platform is composed of three collapsible electric cylinders;the moveable platform can achieve a specific position and orientation by adjusting the rods length of servo motors.4.The STM32 microprocessor is the core component of the hardware;this thesis completes the designing and debugging of the hardware,which includes the power supply circuit,the clock circuit,the RS-485 communication circuit,the CAN communication circuit and the digital I/O circuits.5.The design of related software functional modules has achieved,this thesis also proposes the half-closed control technology based on the incremental PID method and optimized the servo response ability under the multi-axis positioning system.6.This thesis realizes interactive debugging and verification of the motion seats system,testing the system in real environment and analyzing the results.