6-DOF Motion Functional system

From the perspective of motion system, the six-degree-of-freedom motion control system is an electrics ervo control system. In order to plan the whole control system, we must first idenyigy the structural characteristics and working principle of the system, and analyze the functional modules that the system should include. Then, according to its functional requirements, the hardware modules needed for the wholes ystem are planned, and the composition diagram of the control system is drawn, then, the hardware and software parts are planned separately, so as to complete the overall functional planning of the six-degree-of-freedom motion channel control system.

In the process of practical operation, the main control unit needs to perform forward and backward motion and trajectory planning. In addition, a complete control system should include human-computer interaction, real-timed ata storage and other functions.

(1) Azimuth manipulation: The main method chosen in this paper is azimuth manipulation. When the system gives the instructions, the six electric cylinders can expand within the limits of the system according to the instructions, so that the motion channel can achieve six degrees of freedom.

(2) Limit system: When an electric cylinder in a six-degree-of-freedom motion channel exceeds its range of motion,the problem must be detected by the limited position system, which immediately reacts to the limit signal to the upper control system, launch the alarm and performs the corresponding protective measures.

(3) Servo alarm: When there are overload alarm, battery alarm, encoder communication alarm, oscillation detection alarm, heat dissipation, system overheating alarm and other issues in the six-degree-of-freedom motion system, the system will immediately launch the servo alarm, stop the input action by closing the command pulse, the servo-motor, and immediately protect the motion system.

(4 User interface: The control system is provided with a user-friendly interface, which is simple and convenient to operate. The interface includes: selection of control scheme, parameter initialization, input and output of basic instructions, synchronous display of systeml orientation, response parameters such as motor cylinder expansion, speed and its motion curve, and synchronous display of servo control system at any time.

(5) Emergency: When the system activate the alarm of serious mal-function, if the movement of the system cannot be stopped immediately by using the control button, the power supply of the whole system can be cut off directly through the emergency stop button, so that the system can stop movement immediately and prevent the occurrence of serious accidents such as collision damage.

(6) Initializing and positioning: Manipulating keys are needed on the user interface to enable the platform to return to initial position, point orientation, or any orientation within the limits.

(7) Active detection: immediately after the system is powered on, it starts to detect whether the various components of the servo control system are working properly, and report the test results to the host computer in time.

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