The Research And Study On Control System Of A 6-DOF Motion Platform

6-DOF Stewart motion platform(the shortened form “6-DOF motion platform” in this paper)is a kind of parallel mechanism with six degrees movement ability.By controlling the length of six actuators,six degrees of freedom movement of the upper platform can be completed in space.The platform has many characteristics,such as high stiffness,strong bearing capacity,high control precision,fast response,and it has the characteristics of multi-degree-of-freedom motion,so it is widely used in military areas,industrial areas and precision instrument manufacturing.Taking the 6-DOF motion platform research as the background,firstly,the development and application prospect of the platform and its control system have been expounded in this paper,its research status and technical difficulties have been described,and the significance and innovation of this platform have explained.Secondly,by analyzing the structure characteristics and working principle of the 6-DOF motion platform,the function of this control system has been listed,and the overall design of the control system has been completed.Then,the motion relationship between the platform structure has been further researched.The research process is as follows: The coordinate system has been established in the space,and then according to the known conditions,the motion relationship between the platform in the space and the six electric cylinders have been described by matrix operation,and the kinematic inverse solution and positive solution formula have been obtained,so as to establish the mathematical model of the motion platform.Then,according to the control demand and motion analysis results,the physical parameters have been initially designed,such as the size of the motion platform.The hardware has been researched and purchased,the hardware of platform system has been connected and the system is built,at the same time,the mechanical parts has been selected.Based on the hardware system,the software platform of the system based on the PC windows operating system has been developed,completing the inverse solution algorithm,control algorithm,simulation model and human-machine interface,so as to realize the man-machine interaction and advanced control function of the motion platform,completing the construction of the whole motion control system.Finally,based on the completed control system,the simulation experiment of upper computer and controller has been conducted to verify the correctness of the algorithm.And the experimental results have been analyzed,and the existing problems have been summarized and improved.The article and its subject aim at building the control system of 6-dof motion platform.By theoretical research,hardware building,software development and simulation analysis,the control system of 6-dof motion platform has been developed successfully.And joint simulation experiments have been carried out to verify the correctness of the motion Anti algorithm and the control algorithm.The 6-DOF motion platform control system developed in this paper lays a good foundation for the research and development of 6-DOF shaking platform and swing platform.