基于NI实时控制器的六自由度平台测控系统设计与实现

Design and implementation of a six-degree platform control system based on NI real time controller

摘要:

六自由度平台测控系统是六自由度平台的电气控制部分，它通过对六路液压缸的实时闭环控制，实现对平台位姿的控制。该测控系统采用NI的计算机，配置多种类型的PXI板卡，实现了对平台的电压、电流、数字IO、CAN总线等多种接口类型的测量和控制，满足了可靠性需求。采用了典型的上下位机控制，分别进行实时计算与任务管理，解决了实时性的控制需求。采用NI的虚拟仪器Labview开发测控软件，完成实时计算平台的正解与反解模块，作动器闭环控制等功能，增强系统的功能和灵活性。目前六自由度平台测控系统的硬件部分和软件部分都已经通过了调试，对系统进行了正弦运动和暂态特性测试，实验结果表明，运行速度快，满足了平台的控制要求。

Abstract:

The six-degree platform control system is the electrical control part of the six-degree platform. It realizes the position and attitude control of the platform through the real-time closed-loop control of the six-way hydraulic cylinder. The control system uses NI computer and configures various types of PXI board, realizes the control of voltage, current, digital IO, CAN bus and other interface types of the platform, meets the reliability requirements. Typical upper and lower computer control is adopted to carry out real-time calculation and task management respectively, which solves the real-time requirements. Labview is used to develop the measurement and control software, which completes the forward and reverse module of the real-time computing platform and the closed-loop control of the actuator, so as to enhance the function and flexibility of the system. At present, the hardware and software of the six-degree platform measurement and control system have passed the debugging. The sinusoidal motion and transient characteristics of the system have been tested. The experimental results show that the system runs fast and meets the control requirements of the platform.