Design And Implementation Of Intelligent Control System For 1PT+3TPS Parallel Motion Platform

Parallel mechanism has been used widely in modern engineering field,motion control systems of dynamic motion simulator and parallel drilling machine tool,which are two kinds of application of 1PT+3TPS type parallel mechanism,are taken as research object,hardware and software design and function realization of above two motion control systems are studied deeply and systemly in this paper.Calculation of degree of freedom,position inverse solution and kinematics analysis are conducted for 1PT+3TPS type parallel mechanism,mapping relationship between parallel moving platform orientation and driving leg length is deduced,mapping relationship between moving platform movement speed and driving leg velocity is derived.Combining reinforcement learning theory with PID control algorithm,an adaptive PID controller is designed and implemented,this controller possesses advantages of robustness of PID controlling and intelligent adjustment of machine learning,which makes the controller can adjust PID control parameter intelligently,the adaptive PID controller has excellent performance.A hardware control platform is established for 1PT+3TPS type parallel motion simulator,control software system is designed and implemented,it includes USB data receiving module,center control module,adaptive PID control module and MODBUS data transmission module,the control software system receives orientation data from computer game software and drives the motion of parallel mechanism,synchronization between motion simulation platform and game role orientation is implememted,which brings game players with immersive feeling.Experimental results show that above motion controller possesses characteristics of fast response speed and good synchronization effect.Aiming at 1PT +3TPS type parallel drilling machine tool,a motion controller is designed and implemented based on industrial PC and motion control card,a handle control method is designed to control the orientation of drilling tool accurately by way of coarse tuning and fine tuning mode.An automatic adjusting and alignment method for drilling hole direction of parallel drilling machine tool is designed using three laser distance sensors,which can improve both adjusting precision and alignment speed.A teaching-playback method is designed and implemented,which can enhance machining efficiency for the same batch parts,teaching process records the machining process parameters of the first part,and playback process repeats the same machining process for the other parts according to the recorded process parameters automatically.