混联四自由度汽车驾驶模拟平台的控制系统设计  

Control System Design of a 4-DOF Hybrid Motion Vehicle Driving Simulation Platform

作　　者：张骁[1] 王培俊[1] 张利斌[1] 李文涛[1] ZHANG Xiao;WANG Peijun;ZHANG Libin;LI Wentao(Southwest Jiaotong University, School of Mechanical Engineering, Chengdu 610031, China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械制造与自动化》2017年第6期189-192,共4页Machine Building & Automation

基　　金：四川省科技支撑计划项目(2013GZX0138)

摘　　要：结合串联机构和并联机构的优点,设计了一种串并联结合的混联四自由度汽车驾驶模拟平台。选择平台动力源,对控制系统硬件进行了设计。编写基于C++语言的控制软件,实现了各自由度的运动控制及回原点功能。以平台并联机构左侧电机为例,对伺服电机各参数进行了计算,优选合理的型号。对平台样机进行测试实验,分析了测试结果,为后期平台优化提供参考。The advantages of series mechanism and parallel mechanism are applied to the design of a4-DOF Hybrid Motion Vehicle Driving Simulation Platform.The hardware of the control system is designed for the vehicle driving simulation platform and the power source of the platform is selected.The control software is written based on C++language which can be used to achieve the motion control of each degrees of freedom and return to the origin function.This paper takes the left motor of the parallel mechanism for example to calculate the parameters of the servo motor and select its reasonable model.The test experiment is carried out on the prototype of the platform,and the test results are analyzed A reference is given to the optimization of the platform.

关 键 词：混联机构 汽车驾驶模拟 运动控制 伺服电机 控制系统 

分 类 号：TH122[机械工程—机械设计及理论] TP311.1[自动化与计算机技术—计算机软件与理论]