Common functions of six degrees of freedom motion platform
Common functions of 6 DOF motion platform
(1) Human machine interface: The control system needs to provide a user interface that is simple to operate and easy to control. The interface should include: control scheme selection, parameter initialization, basic command input and output, etc. The position and attitude of the platform, the feedback parameters such as the expansion and contraction amount and speed of the electric cylinder, as well as the synchronous display of its motion curve; Control the current operating status of the servo system, etc.
(2) Position control: The main control method used is position control. When the system sends a command, the six electric cylinders of the platform can stretch and retract within the range limited by the system according to the command, so that the moving platform can realize the target movement of six degrees of freedom in space.
(3) Automatic detection: After the system is powered on, it immediately starts to detect whether the various components of the servo control system are operating normally, and reports the detection results to the upper computer in a timely manner.
(4) Servo alarm: when the six degrees of freedom motion platform has overload alarm, battery alarm, encoder communication alarm, vibration detection alarm, heat dissipation system overheat alarm and other problems, the system will immediately send a servo alarm, and turn off the servo motor by turning off the servo or prohibiting the input of command pulses to protect the motion platform in time.
(5) Emergency stop device: When the system issues a serious fault alarm, if the control button cannot stop the movement of the platform in a timely manner, the emergency stop device can directly cut off the power supply of the entire system, causing the platform to immediately stop moving, thereby avoiding serious accidents such as collisions and damage to the moving platform.
(6) Limit system: when an electric cylinder of the six degrees of freedom motion platform exceeds its motion range, the limit system must detect this problem and immediately feed back the limit signal to the upper control system, and the system will trigger an alarm and implement corresponding protection measures.
(7) Zero finding and positioning: A control button is required on the human-machine interface to automatically return the platform to zero or locate it at any position within a limited space.
