基于DSP的Stewart平台控制系统研制

Control System of the Stewart Platform Based On DSP

摘要:

六自由度Stewart平台具有多通道、实时性高、运算量大等特点,为提高平台的控制精度,对六自由度平台位姿参数正解法进行改进,将平台定为动平面三点空间坐标,并将二次方程转化为线性方程,对产生的奇异解进行方程补偿,降低了运算次数并提高了效率。设计了基于DSP的控制系统。系统由DSP控制板、直流电机、Stewart平台和上位机软件构成。上位机软件由LabView开发,通过串口进行上下位机的通信。介绍了平台控制系统的原理、硬件和软件的设计与实现。实验表明,该控制系统具有良好的稳定性和较高精度的定位控制能力。

Abstract:

The six-DOF Stewart platform has the characteristics of multichannel, high real-time performance and large computational complexity .In order to improve the control accuracy of the platform, the pose parameter calculation is improved. The platform is set as the three-point space coordinates, the quadratic equation is transformed into a linear equation, and the equation is compensated for the singular solution generated, which reduces the number of operations and improves the efficiency. Design a DSP-based control system. The system consists of DSP control board, DC motor, Stewart platform and PC software. PC software developed by the LabView, use the serial port to transmit data. This article elaborates the principle of Stewart platform, the design and implementation of the controller hardware and software. The experimental results demonstrate that the good stability and the high precision positioning control ability of the control system.