| By simulating position and posture of a physical device,motion simulator provides a realistic operating experience,which is the production of highly integrated development of mechanical transmission technology,automatic control technology,and augmented reality technology.The traditional domestic and foreign simulators are not only complex in structure but also bulky and expensive,so it is difficult to enter ordinary families.A kind of household motion simulator was designed in this paper,based on the software design of control system,the research of control strategy and real-time analysis of control system,an intelligent control system with strong interactivity,high real-time performance and good stability was designed and implemented.The main contents of this paper are listed as follows:(1)Aiming at the functional requirements for the household dynamic game simulator,by optimizing the mechanical structure of the motion simulator and reducing the cost of the system,a kind of household motion simulator was designed,the drive motors were selected,the strength check of key components was carried out.(2)The inverse kinematics equation for the platform was deduced,the equations of motion state and the transfer functions of each unit in uniaxial control system were analyzed,the mathematical model of the controlled object was established,the three parameters of conventional PID controller were optimized by using genetic algorithm,the simulation platforms of single-axis fuzzy PID controller and conventional PID controller were built in the Simu Link environment.(3)After the hardware framework of the control system was built,the main hardwares for the control system were selected,considering the actual use and application of the simulator,the functional requirements of the control software were analyzed,then based on STM32 microprocessor and ?C/OS-? which is an embedded real-time operating system,the overall architecture and the main applications of the software were designed and implemented,the overall function of the software was tested.(4)A series of measures had been taken to improve the real-time performance of the control system: through the introduction of double-buffering mechanism,the USB communication rate was improved;by optimizing the inverse solution algorithm,the computational efficiency of the position and posture inverse solution was improved;through the off-line fuzzy inference operation,the motion response time of the single-axis of PID control was shortened;based on priority pre-emptive scheduling,the time slice rotation algorithm was designed,the motor drive tasks were preferentially and synchronously implemented,the real-time performance of the control system was improved. |
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