新型三自由度摇摆台控制系统的设计和实现

Design and Realization of New Type of 3-Axis Swing Bedstand Control System

基于CAN总线通信方式的分布式测控系统,由上位机控制系统、CAN总线适配器、三轴伺服控制系统、摇摆机构及测试系统组成。采用误差分段控制方法以提高系统控制精度,减小超调量;功率部分采用PWM直流脉宽驱动方式。可以模拟车体横摇、纵摇、航向方向的姿态变化,以及模拟海上的横向、纵向摇摆运动,同时还具有实时测量并显示摇摆工作状态的功能,可以作为各类稳定控制系统的试验工装,提供模拟真实车体或舰船摇摆的试验条件。

The 3-axis swing bedstand control system is a kind of distribution measuring and control system based on CAN bus communication, it is composed of master computer controls system, CAN bus adapter, 3-axis servo control system, swing mechanism and measuring system. By use of error segmented control method, system control accuracy was improved to reduce over-regulated magnitude. Power portion made use of driving mode of PWM DC motor. The system can simulate attitude variation of vehicle rolling, longitudinal swing, and course direction, it can also simulate rolling, longitudinal swing and moving on the sea, at the same time, it has functions of real-time measuring and displaying the state of swing operation. The system can be taken as test assembly of various stable control systems, and it can provide test conditions of simulating actual vehicles, ships and warships swing.