仿真器运动控制系统的算法分析-algorithm analysis of simulator motion control system.docxVIP

AbstractThe vehicle simulator is a key device of the infrared guidance Hardware-In-Loop Simulation System (HILS), which can provide a photographic scene to imitate the various characteristics including target and interference. As important as a nerve center, the motion control system (MCS) plays an indispensable role in the working process of simulator.The major research object of this thesis is the control algorithm of the MSC which contains computer, driver unit, servo motor, feedback encoder and several motion mechanisms. The control algorithm is researched to facilitate successful simulation with the hardware working coordinated. For analyze conveniently, the system parameters are divided into simulation parameters (SP), motion mechanism parameter (MMP), motor control parameters (MCP). The research target of the control algorithm is the conversion between three kinds of system parameters, and software application of the control algorithm.In this thesis, we study the conversion relationship between SP and MCP by theoretical derivation and analysis based on the mathematical model, while the relationship of MCP and MMP is acquired by experimental measurement. For different motion mechanism different methods are taken to achieve the conversion parameters with more process of the experimental data, curve fitting with different function depending on different motion mechanism and calculation based on the variable coefficients of the curve fitting equation.The control software is divided into four parts according to the technical requirement, and the control algorithm is mainly applied in static testing and dynamic simulation of two parts. In static testing part the set MMP are converted to MCP, and in dynamic simulation part SP in the simulation instruction will be converted to MMP and then MCP. When MCP are collected, the software will call appropriate function to complete the application of the control algorithm by controlling the motors movement to the designated l