Development And Research On Control System Of Multi Axis Parallel Attitude Adjustment Equipment

In the field of space equipment attitude adjustment and docking,the traditional operation mode is completely completed by hand.For the parallel mechanism,the end pose of the moving platform depends on the coupling of each branch chain motion,so the manual operation will lead to low efficiency and the control of the end pose of the moving platform is not so satisfactory.Therefore,with the rapid development of intelligent space equipment,a highly automated parallel attitude adjustment equipment control system is urgently needed to replace the manual operation of complicated attitude adjustment,so as to improve the efficiency of space equipment assembly.Based on this horizontal project,this project takes4-sppp parallel attitude adjustment platform as the research object,and carries out corresponding research from five aspects: electrical system design,control system development,control strategy research,mechatronics simulation and experimentBased on Omron ck3 e open motion controller,the overall structure of the electrical system of the parallel attitude adjustment equipment is constructed.By setting feedback at the motor end,the design idea of the electrical system of the multi axis linkage parallel attitude adjustment platform is established,and the errors caused by the mechanical coupling and connection defects hidden in the servo loop feedback of the control system are eliminated.Based on this,the communication between the drive circuit and the servo controller is designed.In the servo drive end,the motor configuration,parameter configuration and software limit setting are completed.The motion program of the motion controller is written,and the kinematics algorithm is embedded into the motion controller.The upper computer humancomputer interaction interface is developed to realize the logical decision-making ability of the motion controller.Aiming at the problem of redundant drive in multi axis parallel mechanism,the control strategy of active drive and driven drive is developed.The position mode is adopted in the active drive to ensure the accurate feed of the end pose of the moving platform;the torque mode is adopted in the driven drive to ensure the timely response of the driven drive and the synchronization with the active drive.Based on the digital twin technology of mechanical and electrical conceptual design(MCD)+ TIA portal,the virtual prototype of multi axis linkage parallel attitude adjustment equipment control system is built.In the equipment development cycle,the problems of each part are timely fed back,the project development cycle is shortened,and the feasibility of the program is verified in the virtual environment.Through the zero-point calibration experiment,the problem of zero-point disagreement caused by assembly error is eliminated,and the control accuracy experiment and the PID tuning experiment of driven drive are further carried out.