Control System Design of 6-DOF Platform Based on PMAC
Six degrees of freedom platform (DOF) is driven by six hydraulic cylinder actuators, which is controlled by PMAC multi-axis motion control card. Because the cylinders are asymmetry, if only use PID controller to realize position servo control, the platform could track the input signal, but the frequency characteristic and stability couldnt meet the requirement. The paper design the control system based on PMAC, and make use of AMEsim and Matlab simulation software to found kinetics and hydraulic control system mathematical model. Firstly, only PID controlled position servo system is considered. Secondly, the velocity feedback and pressure feedback are considered. Through analysis, the velocity feedback and pressure feedback not only could improve the frequency characteristic of the system, but also could improve the robustness and response capability of the system. At last, through the experiment ,and contrast to simulation data , it is proved the design method is effective, and could meet prospective performance level.
six degrees of freedom platform PMAC velocity feedback pressure feedback
Liang Lihua Tian Jun Zhang Songtao
Automation College, Harbin Engineering University, Harbin, Heilongjiang, 150001, China Department of Naval Ships, Department of Navy Equipment, Beijing, 100010, China
国际会议
北戴河
英文
703-707
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）