无人直升机着舰模拟台控制系统设计

Design of Control System of Landing Ship Simulation Manipulator for the Unmanned Helicopter

介绍了无人直升机着舰模拟台的机构运动原理,对其进行了运动学逆解分析,并提出了一种基于PAC可编程自动控制器的数字PID闭环控制方法,充分利用了PAC的运动控制性能和高速传输能力进行6个伺服电动缸的位置控制,使模拟台平稳地模拟舰船的各种运动。

This report presented the kinematics principle of a manipulator that simulated landing ship for the Unmanned Helicopter and its solution for the inverse kinematics was described,then a control method of digital PID closed loop was presented based on the PAC controller.The precision position controlling of 6 servo motors made full use of PAC advances in motion controlling and rapid transmission,then any movement of warship would be actualized smoothly.