공기압 6자유도 시뮬레이터의 실시간 응답 특성 개선

Abstract

Z축으로 플랫폼을 일정 높이로 상승시켜, Roll 방향의 회전운동을 실험하였다. 공기압 액추에이터의 특성상 목표치에 빠른 변화에 따른 큰 가속에도 빠른 추종을 보였다. 그러나, 제어초기에 약간의 진동이 발생하고 있고, 6개의 실린더에서 동일한 제어성능을 얻지 못하는 경우가 발생하였다. 그러므로 본 논문에서서 적용한 제어기법기법과 공기압 액추에이터의 비선형성을 보상할 수 있는 제어기를 적용한다면 6자유도 시뮬레이터의 제어성능이 더욱 향상될 것으로 판단된다.

Stewart platform is a common form of parallel manipulator with 6 linked actuator. It was first introduced in 1965 by Stewart for flight simulator. Stewart platform have shape of a closed loop with a high structural rigidity than serial manipulator. The flight simulator have the advantage of safe and effective training Recently Stewart platform is used in various fields like aircraft, automobiles, ships, virtual reality games and more. Electric and hydraulic actuator are used primarily rather than air pneumatic actuator using the simulator. Pneumatic cylinder be behind at position control performance, but acceleration and deceleration performance is excellent, in load weight connected at upper platform. 3-axis joystick for the operation with simulator, industrial potentiometer joystick can operate movement of 6dof in a not particular OS. Generally, the voltage, such as signals in the form of sensors can connect directly to digital controller configurations. In recent years the development of microprocessor-based digital controller is usually done. However, Because of the complexity of the structure than analog controller, a variety of knowledge for hardware and software is required. The digital controller must be designed in real-time. Main elements are sensor, controller of the hardware (CPU), software and operating system, control algorithms. In this paper, to improve Real-time Response Characteristics of digital controller, software programing method and algorithms are reviewed. To reduce the response time, control loop have priority than another task. Labview real-time target system with RT OS can use shared variable for data communication