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基于NI實(shí)時(shí)控制器的六自由度平臺測控系統設計與實(shí)現
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北京精密機電控制設備研究所,北京精密機電控制設備研究所,,,

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V442

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

    六自由度平臺測控系統是六自由度平臺的電氣控制部分,它通過(guò)對六路液壓缸的實(shí)時(shí)閉環(huán)控制,實(shí)現對平臺位姿的控制。該測控系統采用NI的計算機,配置多種類(lèi)型的PXI板卡,實(shí)現了對平臺的電壓、電流、數字IO、CAN總線(xiàn)等多種接口類(lèi)型的測量和控制,滿(mǎn)足了可靠性需求。采用了典型的上下位機控制,分別進(jìn)行實(shí)時(shí)計算與任務(wù)管理,解決了實(shí)時(shí)性的控制需求。采用NI的虛擬儀器Labview開(kāi)發(fā)測控軟件,完成實(shí)時(shí)計算平臺的正解與反解模塊,作動(dòng)器閉環(huán)控制等功能,增強系統的功能和靈活性。目前六自由度平臺測控系統的硬件部分和軟件部分都已經(jīng)通過(guò)了調試,對系統進(jìn)行了正弦運動(dòng)和暫態(tài)特性測試,實(shí)驗結果表明,運行速度快,滿(mǎn)足了平臺的控制要求。

    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.

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王效亮,張芳,曾憲科,欒婷,陳成峰.基于NI實(shí)時(shí)控制器的六自由度平臺測控系統設計與實(shí)現計算機測量與控制[J].,2019,27(2):24-28.

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  • 收稿日期:2018-09-16
  • 最后修改日期:2018-10-30
  • 錄用日期:2018-10-31
  • 在線(xiàn)發(fā)布日期: 2019-02-14
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