摘要
根据六自由度运动平台性能特点,对平台进行了基于位置反解的轨迹规划,并对平台控制系统硬件和软件模块进行了分析,以"PC+PMAC"为结构设计了六自由度平台运动控制系统。采用该控制系统,对平台进行了单缸位置跟踪和轨迹跟踪性能测试试验,试验结果证明了模型的正确性及基于RBF模糊神经网络整定的PID控制的工程可行性和有效性,为今后对液压六自由度运动平台的进一步深入研究提供一个便捷高效的平台。
According to the performance characteristics of six degree of freedom （6-DOF）motion platform,the trajectory for the platform was planned based on an inverse solution of the position,the overall structure and the control system software and hardware of the platform were analyzed,and with“PC ＋ with PMAC”for the structure,the 6-DOF platform motion control system was designed. The performances of a single cylinder position tracking and trajectory tracking were tested by experiments in using the control system. Test results verify the validity of the model,and the project feasibility and effectiveness of PID control based on RBF fuzzy neural net-work setting,which provides a convenient and efficient platform for further research of hydraulic 6-DOF motion platform in the future.
出处
《机床与液压》
北大核心
2014年第9期44-48,53,共6页
Machine Tool & Hydraulics
关键词
六自由度
控制系统
运动平台
Six degrees of freedom
Control system
Motion platform
