Design of Control System for Vibration Isolation Platform Based on Parallel Mechanism

摘要

An active passive vibration isolation platform (VIP) based on 4PUS-PS* parallel mechanism was proposed. The movement characteristics of the mechanism and the hardware design of control system were discussed. Considering the application background, we developed the software of control system. The whole control strategy applied the architecture of “IPC+EtherCAT”. First of all, the whole distribution scheme was proposed and the system's deliver approach of the data was analyzed. Then, the hardware of the control system was built. Based on the five-layer architecture of the software which was carried out in the whole control plan, the presentation layer achieved human-computer interaction; the control system realized the whole process control and determined the control strategy of the system; the model layer conducted function encapsulation and function integration of the hardware; communication layer managed communication mode and information routing; the hardware layer completed its hardware configuration management and diagnosis. Also, the key control strategy and the key functional modules of the control system were analyzed in this layer. Finally, the movement control and vibration isolation test were conducted.