Control and Simulation of 6 DOF Dynamic Platform
|School||East China University of Science and Technology|
|Keywords||6 DOF Parallel mechanism Dynamic platform Virtual simulation Control systems Surface simulation|
This paper is based on the virtual driving experience platforms of a yacht for the project background. Design and develop a control theory and kinematics simulation of 6 DOF dynamic platform of Stewart form, and the control principle successfully applied in the road spectrum simulation movement. First of all, make the platform as a main object and analyze the theoretical mathematical model of the position and orientation system in the paper, including the positive and inverse solution algorithm of location and the analysis of workspace. Modeling and simulating the main structure of the platform by using SolidWorks and ADAMS, and verify the reasonableness and accuracy of platform design; it is important to the entire system security and reliability of 6 DOF platform by analysis of the entire platform mechanism, such as movement, limit position, rotation, interferences, other parameters and so on. Then design the control software, realized the real-time control athletic stance of the platform by calling the various command function of control cards, such as dive pitch, tilt, yaw and so on. And when loading the motion curves of cylinder got by simulation, the same trend of movement of trajectory between the actual and simulation will be obtained, so prove the consistency of the actual control and virtual simulation. Finally, summarize the four different data acquisition methods and their advantages and disadvantages.Prove the development and control method of dynamic platform is feasible through the success of project. Also, it can laid a good foundation of designing and developing for other purposes of 6 DOF and multi-DOF platform and their control methods.