CN106873520A - A kind of digital 6-DOF motion platforms control system - Google Patents
A kind of digital 6-DOF motion platforms control system Download PDFInfo
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- CN106873520A CN106873520A CN201510914950.XA CN201510914950A CN106873520A CN 106873520 A CN106873520 A CN 106873520A CN 201510914950 A CN201510914950 A CN 201510914950A CN 106873520 A CN106873520 A CN 106873520A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4144—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using multiplexing for control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
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- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of digital 6-DOF motion platforms control system, dual-CPU system is constituted using the axle servo of the high-performance six/step motion control card based on pci bus, and main control computer.The motion platform of the simulator is entirely a kind of " digital open loop control "; with strong antijamming capability, the characteristics of low to the required precision of fluid, debugging maintenance is simple; normal operation and the error protection of platform are realized by the multi-task scheduling software for optimizing, the reliability requirement of control system has been reached.
Description
Art
The present invention relates to a kind of digital 6-DOF motion platforms control system, it is adaptable to mechanical field.
Background technology
Six degree of freedom Stewart platform parallel robot mechanism has extremely wide application prospect, it can apply to the motion simulator of the various simulation trainings such as aircraft, ship, tank, and earthquake simulation platform, simulation film etc., also available to spaceship, submarine rescue, the docking facilities of tanker aircraft in, be alternatively arranged as parallel kinematics machine tool, Medical Robot, precision positioning mechanism etc..Large-scale parallel motion platform will typically carry the load compared with large inertia, because electronic, pneumatic driving force is relatively small, therefore the overwhelming majority uses electrohydraulic servo-controlling system, although hydraulic-driven has the advantages that fast response time and control accuracy are high, but also some shortcomings of generally existing, particularly require that strictly accuracy class is up to 14/11 (IS04406) to oil quality, the system debug cycle is long, safeguards relatively difficult.And using the electrohydraulic servo system of analog signal, it is necessary to the anti-means than interference such as many D/A, A/D interface elements, and Phototube Coupling, filtering are used, control system is become complicated.
The content of the invention
The present invention proposes a kind of digital 6-DOF motion platforms control system; the motion platform of the simulator is entirely a kind of " digital open loop control "; with strong antijamming capability, the characteristics of low to the required precision of fluid, debugging maintenance is simple; normal operation and the error protection of platform are realized by the multi-task scheduling software for optimizing, the reliability requirement of control system has been reached.
The technical solution adopted in the present invention is：The digital-type sport platform is made up of six-freedom motion mechanism, platform kinetic control system, oil sources and its control system.There are several parts such as upper lower platform, Numeric hydraulic cylinder, hinge joining means in six-freedom motion mechanism, and it is the motion for reappearing simulator action.Platform kinetic control system is the maincenter of whole parallel motion platform system, it by main control computer, motion control card, data collecting card, subdivision driver, operational control and plate etc. is constituted;For convenience of operation and management, it is a work station by this set control system integration, there are selection knob, platform start-stop button, scram button and the single-degree-of-freedom debugging button and single cylinder debugging button of operational mode on plate in the control of work station, and the visual touch-screen of oil sources is also mounted at lower left, the remote monitoring of oil sources is capable of achieving.Oil sources and its control system be made up of oil pump, water pump, heater, overflow valve, Oil-source control PLC, Oil-source control case, visual touch-screen etc., and it can realize that oil pressure, oil temperature are automatically controlled and regulation.
The main control computer is the core of whole control system, it generates (including the displacement of motion platform six-degree-of-freedom posture information by the information that network communication receives host computer, speed, acceleration), by washout filter algorithm, it is converted into translation and the rotation displacement of motion platform, and by parallel robot mechanism inverse kinematic obtain each hydraulic cylinder cylinder it is long, it is sent on motion control card by pci bus afterwards, motion control card is by position, after the interpolation operation of speed, pulse command is sent to subdivision driver, moved by stepper motor band movable valve plug, cylinder needed for becoming hydraulic cylinder finally by hydraulic action is long, so as to produce the athletic posture of analog simulation in real time.Main control computer is communicated by serial ports (RS485) and oil sources PLC simultaneously, whether the oil pressure of real-time monitoring oil sources, oil temperature, oil level, filter the oil sources situation such as block, and produce corresponding actions regarding feelings, such as under conditions of oil pump is not started, platform operation initialization condition is unsatisfactory for, hydraulic cylinder will not be acted when by lower platform starting button, the problem that can conversely point out operator to exist.
It is described to use the axle servo of the high-performance six/step motion control card based on pci bus, actually dual-CPU system is constituted with main control computer, after receiving the instruction of main control computer, it can rapidly carry out displacement, the interpolation of speed and calculate, and send pulse value and pulse frequency goes to drive corresponding stepper motor, it is ensured that 6 hydraulic cylinders is smoothly elongated or shortened different distances within the identical time.And the control card has position variable annular, speed can be at any time changed during exercise, can be used the advanced functions such as Continuous interpolation program the control of motion platform is more accurately facilitated.
The location management of the motion control card using two plus/minus speed counters, one be the output of internal control driving pulse logical place counter, a feed back input for being used to receive external pulse.When actually used, instruction is carried by control card, can in real time return to logical place Counter Value, namely hydraulic cylinder ideal position.And the internal feedback mechanism of hydraulic cylinder can attach a high-precision code-disc encoder, can be by the physical location of the real-time rework solution cylinder pressure of control card, this can effectively monitor the motion of hydraulic cylinder.But in fact, due to the reasonable design of hydraulic cylinder, its position tracking ability is very strong, so this external pulse feed back input can remove completely, it is entirely a kind of " digital open loop control; eliminate numerous sensors such as displacement transducer, force snesor, pressure sensor and acceleration transducer, and the D/A for thus bringing, A/D conversion and complicated controller parameter adjusting means for effector.And in the case of electricity on subdivision driver, stepper motor is in self-locking state, i.e., unless there are the effect of driving pulse, it will not be acted under general interference signal effect, so system has very strong antijamming capability.
The oil sources PLC mainly realizes the logic control and monitoring of oil supply system.Platform runs the preparatory stage, using the visual touch-screen fuel primer pump on console, while height of the PLC according to oil temperature, decides whether to start water pump operation when cooling water pump still starts heater, i.e. high oil temperature, heater is started when oil temperature is too low and is heated.When system is normally run, whether oil pressure, oil temperature, oil level, filter the oil sources situation such as are blocked into, it is real-time transmitted to visual touch-screen and main control computer, oil sources information so can be all shown on touch-screen and display, even if in the case where main control computer crashes, operator also can clearly check oil sources ruuning situation in console.
The logic control and defencive function are mainly by I/0 mouthfuls on digital I/0 capture cards and motion control card; all I/0 operations between management movement control and its auxiliary device; by all analog-converteds of I/0 interface acquisition systems and on off state; the running status of on-line monitoring system; and accident analysis and treatment are carried out, corresponding protection act is implemented to platform by security protection module.Security protection module is provided with nearly 30 kinds of failures altogether, the species according to failure and the danger being likely to result in, and is divided into 3 treatment ranks, is respectively:Alarm, reply neutral position (6 half of the equal extended travel of hydraulic cylinder), promptly exit.Alarm is system monitoring to state that is a kind of improper but will not temporarily being influenced too much to system, now sends sound and light alarm by control software, points out operator to take corresponding measure to eliminate it；" reply neutral position " is system monitoring to non-lethal failure, then security protection module closes normal motion request, and direct control platform is returned to neutral position, and standby, until Failure elimination；And " promptly exiting " is system when running into the dangerous situations such as power failure, decompression, oil pump jerk, gross leak, security protection module makes the platform can emergency return initial zero position in any pose.
The beneficial effects of the invention are as follows：The motion platform of the simulator is entirely a kind of " digital open loop control "; with strong antijamming capability, the characteristics of low to the required precision of fluid, debugging maintenance is simple; normal operation and the error protection of platform are realized by the multi-task scheduling software for optimizing, the reliability requirement of control system has been reached.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is motion platform control system block diagram of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, digital-type sport platform is made up of six-freedom motion mechanism, platform kinetic control system, oil sources and its control system.There are several parts such as upper lower platform, Numeric hydraulic cylinder, hinge joining means in six-freedom motion mechanism, and it is the motion for reappearing simulator action.Platform kinetic control system is the maincenter of whole parallel motion platform system, it by main control computer, motion control card, data collecting card, subdivision driver, operational control and plate etc. is constituted;For convenience of operation and management, it is a work station by this set control system integration, there are selection knob, platform start-stop button, scram button and the single-degree-of-freedom debugging button and single cylinder debugging button of operational mode on plate in the control of work station, and the visual touch-screen of oil sources is also mounted at lower left, the remote monitoring of oil sources is capable of achieving.Oil sources and its control system be made up of oil pump, water pump, heater, overflow valve, Oil-source control PLC, Oil-source control case, visual touch-screen etc., and it can realize that oil pressure, oil temperature are automatically controlled and regulation.
Main control computer is the core of whole control system, it generates (including the displacement of motion platform six-degree-of-freedom posture information by the information that network communication receives host computer, speed, acceleration), by washout filter algorithm, it is converted into translation and the rotation displacement of motion platform, and by parallel robot mechanism inverse kinematic obtain each hydraulic cylinder cylinder it is long, it is sent on motion control card by pci bus afterwards, motion control card is by position, after the interpolation operation of speed, pulse command is sent to subdivision driver, moved by stepper motor band movable valve plug, cylinder needed for becoming hydraulic cylinder finally by hydraulic action is long, so as to produce the athletic posture of analog simulation in real time.Main control computer is communicated by serial ports (RS485) and oil sources PLC simultaneously, whether the oil pressure of real-time monitoring oil sources, oil temperature, oil level, filter the oil sources situation such as block, and produce corresponding actions regarding feelings, such as under conditions of oil pump is not started, platform operation initialization condition is unsatisfactory for, hydraulic cylinder will not be acted when by lower platform starting button, the problem that can conversely point out operator to exist.
Using the axle servo of the high-performance six/step motion control card based on pci bus, actually dual-CPU system is constituted with main control computer, after receiving the instruction of main control computer, it can rapidly carry out displacement, the interpolation of speed and calculate, and send pulse value and pulse frequency goes to drive corresponding stepper motor, it is ensured that 6 hydraulic cylinders is smoothly elongated or shortened different distances within the identical time.And the control card has position variable annular, speed can be at any time changed during exercise, can be used the advanced functions such as Continuous interpolation program the control of motion platform is more accurately facilitated.
The location management of motion control card using two plus/minus speed counters, one be the output of internal control driving pulse logical place counter, a feed back input for being used to receive external pulse.When actually used, instruction is carried by control card, can in real time return to logical place Counter Value, namely hydraulic cylinder ideal position.And the internal feedback mechanism of hydraulic cylinder can attach a high-precision code-disc encoder, can be by the physical location of the real-time rework solution cylinder pressure of control card, this can effectively monitor the motion of hydraulic cylinder.But in fact, due to the reasonable design of hydraulic cylinder, its position tracking ability is very strong, so this external pulse feed back input can remove completely, it is entirely a kind of " digital open loop control; eliminate numerous sensors such as displacement transducer, force snesor, pressure sensor and acceleration transducer, and the D/A for thus bringing, A/D conversion and complicated controller parameter adjusting means for effector.And in the case of electricity on subdivision driver, stepper motor is in self-locking state, i.e., unless there are the effect of driving pulse, it will not be acted under general interference signal effect, so system has very strong antijamming capability.
Oil sources PLC mainly realizes the logic control and monitoring of oil supply system.Platform runs the preparatory stage, using the visual touch-screen fuel primer pump on console, while height of the PLC according to oil temperature, decides whether to start water pump operation when cooling water pump still starts heater, i.e. high oil temperature, heater is started when oil temperature is too low and is heated.When system is normally run, whether oil pressure, oil temperature, oil level, filter the oil sources situation such as are blocked into, it is real-time transmitted to visual touch-screen and main control computer, oil sources information so can be all shown on touch-screen and display, even if in the case where main control computer crashes, operator also can clearly check oil sources ruuning situation in console.
To make platform be returned to zero-bit safely in the catastrophe failures such as main control computer deadlock; specially devise impulse generator; its principle is to produce the pulse of certain frequency in identical time interval using timer; the action of each digital cylinder can be manually debugged using this pulse; in addition to being played a protective role when main control computer crashes, the installation and debugging of platform are also very easy to.The redundancy control system that impulse generator and main control computer are constituted, it is ensured that the safety of platform upper-pilot equipment and personnel.3 digital-type sport platform courses softwares develop in VC++ programmed environments, and integrated use multimedia timer, general timer, and Mutli-thread Programming Technology, realize the multi-task scheduling of platform courses.The software part such as including inverse kinematic module, washout filter algorithm module, internal control module, selftest module, external control module, Logic control module, security protection module, platform start-stop module, Real time dynamic display module.Wherein washout filter algorithm is worked out using Matlab tool boxes, makes it in running background, is called by dynamic link library.
Because the need for difference, the method for operation is set into Three models：Self-inspection, internal control, external control.Platform makees single-degree-of-freedom sinusoidal motion during self-inspection, for the inspection before system operation.Internal control can carry out single-degree-of-freedom debugging, now can make single-degree-of-freedom just or opposite direction motion by " single-degree-of-freedom regulation button " control platform.External control is the groundwork mode of platform, and now platform receives the motor message of host computer by network communication, follows host computer output signal to move automatically.
Logic control and defencive function are mainly by I/0 mouthfuls on digital I/0 capture cards and motion control card; all I/0 operations between management movement control and its auxiliary device; by all analog-converteds of I/0 interface acquisition systems and on off state; the running status of on-line monitoring system; and accident analysis and treatment are carried out, corresponding protection act is implemented to platform by security protection module.Security protection module is provided with nearly 30 kinds of failures altogether, the species according to failure and the danger being likely to result in, and is divided into 3 treatment ranks, is respectively:Alarm, reply neutral position (6 half of the equal extended travel of hydraulic cylinder), promptly exit.Alarm is system monitoring to state that is a kind of improper but will not temporarily being influenced too much to system, now sends sound and light alarm by control software, points out operator to take corresponding measure to eliminate it；" reply neutral position " is system monitoring to non-lethal failure, then security protection module closes normal motion request, and direct control platform is returned to neutral position, and standby, until Failure elimination；And " promptly exiting " is system when running into the dangerous situations such as power failure, decompression, oil pump jerk, gross leak, security protection module makes the platform can emergency return initial zero position in any pose.
Claims (6)
1. a kind of digital 6-DOF motion platforms control system, it is characterized in that：The digital-type sport platform is made up of six-freedom motion mechanism, platform kinetic control system, oil sources and its control system.
2. a kind of digital 6-DOF motion platforms control system according to claim 1, it is characterized in that：The main control computer is the core of whole control system, and it generates motion platform six-degree-of-freedom posture information (including displacement, speed, acceleration) by the information that network communication receives host computer.
3. a kind of digital 6-DOF motion platforms control system according to claim 1, it is characterized in that：It is described to use the axle servo of the high-performance six/step motion control card based on pci bus, actually dual-CPU system is constituted with main control computer, after receiving the instruction of main control computer, it can rapidly carry out displacement, the interpolation of speed and calculate, and send pulse value and pulse frequency goes to drive corresponding stepper motor, it is ensured that 6 hydraulic cylinders is smoothly elongated or shortened different distances within the identical time.
4. a kind of digital 6-DOF motion platforms control system according to claim 1, it is characterized in that：The location management of the motion control card using two plus/minus speed counters, one be the output of internal control driving pulse logical place counter, a feed back input for being used to receive external pulse.
5. a kind of digital 6-DOF motion platforms control system according to claim 1, it is characterized in that：The oil sources PLC mainly realizes the logic control and monitoring of oil supply system, platform runs the preparatory stage, using the visual touch-screen fuel primer pump on console, while height of the PLC according to oil temperature, decide whether that starting cooling water pump still starts heater, i.e. high oil temperature when water pump operation, when oil temperature is too low start heater heated.
6. a kind of digital 6-DOF motion platforms control system according to claim 1, it is characterized in that：The logic control and defencive function are mainly by I/0 mouthfuls on digital I/0 capture cards and motion control card; all I/0 operations between management movement control and its auxiliary device; by all analog-converteds of I/0 interface acquisition systems and on off state; the running status of on-line monitoring system; and accident analysis and treatment are carried out, corresponding protection act is implemented to platform by security protection module.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230802A (en) * | 2017-12-14 | 2018-06-29 | 李明泽 | The safety system of Three Degree Of Freedom tilter |
| CN108267979A (en) * | 2017-12-05 | 2018-07-10 | 北京航空航天大学 | A kind of control device and its control method for stewart platform |
| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN110874966A (en) * | 2018-09-03 | 2020-03-10 | 海口未来技术研究院 | Control method and device of motion simulator, storage medium and processor |
-
2015
- 2015-12-13 CN CN201510914950.XA patent/CN106873520A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267979A (en) * | 2017-12-05 | 2018-07-10 | 北京航空航天大学 | A kind of control device and its control method for stewart platform |
| CN108230802A (en) * | 2017-12-14 | 2018-06-29 | 李明泽 | The safety system of Three Degree Of Freedom tilter |
| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN109240216B (en) * | 2018-08-27 | 2021-08-10 | 天津鼎成高新技术产业有限公司 | Dynamic process control method of parallel servo system and information data processing terminal |
| CN110874966A (en) * | 2018-09-03 | 2020-03-10 | 海口未来技术研究院 | Control method and device of motion simulator, storage medium and processor |
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