基于Visual C++开发的并联六自由度平台测控系统
摘要
本文介绍了以计算机、数据采集卡、并联六自由度平台为硬件核心，以Windows98为软件开发平台，以Visual C++为软件开发工具的六自由度平台测控系统。对基于Windows多任务操作系统下的高速多通道数据采集的实时性进行了分析，提出了稳定可靠的实时数据采集方案。并对本系统中使用到的面向对象技术、Windows下的精确定时和实时响应及多线程技术进行具体的分析。
论文第一章简介了并联六自由度平台的结构特点，国内外发展概况，以及面相对象和Microsoft Visual C++的应用状况，提出了本论文研究的目的和主要内容。
第二章介绍了本测控系统的技术背景，重点介绍了平台位姿正解和逆解以及平台的工作空间，这是进行平台控制的理论依据。本章还介绍了本系统用到的硬件设备。
第三章对面 对象的程序设计与传统的结构化程序设计进行了比较，阐明面向对象的程序设计是程序设计的发展趋势。在此基础上全面分析了采用面 对象的方法设计平台测控系统的全过程。
第四章针对Windows下难以实现精确定时和实时响应，提出了采用多媒体时钟和外接时钟实现精确定时以及采用事件和vxd实现实时响应的方案；对本系统用到的多线程技术进行了阐述；另外，还对本系统的实时性和可靠性进行了分析。
第五章介绍了本系统的人机界面及由界面反映的部分程序运行结果。
第六章对本文进行了总结，并在本课题研究工作的基础上对系统的进一步完善提出了一些意见和想法。
In this thesis the Parallel 6 DOF Platform Testing and Control System is introduced, which includes hardware and software. The hardware subsystem is based on computer, data acquisition card, and the parallel 6 DOF platform. The software is based on Windows 98 and the develop tool is Visual C++6.0. The real-time problem of high-speed multi-channel data acquisition under multitask operating system is also analyzed in detail, and the solution to this problem is given then. The OOP (Object Oriented Programming), precise timing and real-time response under windows, and multithreads techniques applied in this system are also analyzed in detail.
In chapter one, the structure character and development survey in the world of the parallel 6 DOF platform, the recent applied status of OOP and Microsoft Visual C++ are introduced in brief. The goal and content of this research project are also presented.
In chapter two, the platform's positional solutions, including direct solution and reverse solution, and the working space are analyzed in detail, which give the theory foundation of the platform's control. Besides, the hardware utilized in this system is also presented.
In chapter three, firstly, on the basis of the compare of OOP and SP (Structure Programming), a conclusion is reached that OOP is the future trend of programming. Then, a comprehensive analysis to the design process of the Parallel 6 DOF Platform Testing and Control System, which based on OOP, is given
In chapter four, firstly, the difficulty of precise timing and real-time response under Windows is analyzed, and then two solutions to the problem are advanced. One of the solutions is to utilize multimedia timer to time and event to respond. The other is to utilize exterior timer to time and vxd to respond. Secondly, the thesis expounds multithreads applied in the system. At last, the real-time property and reliability of the system are analyzed.
In chapter five, the interface of the system and part of the testing results are introduced.
In chapter six, the conclusion of the thesis is given, and based on the current research, some suggestions for the system's improvement are also given.
论文第一章简介了并联六自由度平台的结构特点，国内外发展概况，以及面相对象和Microsoft Visual C++的应用状况，提出了本论文研究的目的和主要内容。
第二章介绍了本测控系统的技术背景，重点介绍了平台位姿正解和逆解以及平台的工作空间，这是进行平台控制的理论依据。本章还介绍了本系统用到的硬件设备。
第三章对面 对象的程序设计与传统的结构化程序设计进行了比较，阐明面向对象的程序设计是程序设计的发展趋势。在此基础上全面分析了采用面 对象的方法设计平台测控系统的全过程。
第四章针对Windows下难以实现精确定时和实时响应，提出了采用多媒体时钟和外接时钟实现精确定时以及采用事件和vxd实现实时响应的方案；对本系统用到的多线程技术进行了阐述；另外，还对本系统的实时性和可靠性进行了分析。
第五章介绍了本系统的人机界面及由界面反映的部分程序运行结果。
第六章对本文进行了总结，并在本课题研究工作的基础上对系统的进一步完善提出了一些意见和想法。
In this thesis the Parallel 6 DOF Platform Testing and Control System is introduced, which includes hardware and software. The hardware subsystem is based on computer, data acquisition card, and the parallel 6 DOF platform. The software is based on Windows 98 and the develop tool is Visual C++6.0. The real-time problem of high-speed multi-channel data acquisition under multitask operating system is also analyzed in detail, and the solution to this problem is given then. The OOP (Object Oriented Programming), precise timing and real-time response under windows, and multithreads techniques applied in this system are also analyzed in detail.
In chapter one, the structure character and development survey in the world of the parallel 6 DOF platform, the recent applied status of OOP and Microsoft Visual C++ are introduced in brief. The goal and content of this research project are also presented.
In chapter two, the platform's positional solutions, including direct solution and reverse solution, and the working space are analyzed in detail, which give the theory foundation of the platform's control. Besides, the hardware utilized in this system is also presented.
In chapter three, firstly, on the basis of the compare of OOP and SP (Structure Programming), a conclusion is reached that OOP is the future trend of programming. Then, a comprehensive analysis to the design process of the Parallel 6 DOF Platform Testing and Control System, which based on OOP, is given
In chapter four, firstly, the difficulty of precise timing and real-time response under Windows is analyzed, and then two solutions to the problem are advanced. One of the solutions is to utilize multimedia timer to time and event to respond. The other is to utilize exterior timer to time and vxd to respond. Secondly, the thesis expounds multithreads applied in the system. At last, the real-time property and reliability of the system are analyzed.
In chapter five, the interface of the system and part of the testing results are introduced.
In chapter six, the conclusion of the thesis is given, and based on the current research, some suggestions for the system's improvement are also given.
引文
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[2]D. Stewart. A Platform with Six Degrees of Freedom. Proc. Inst. Mech. Eng., 1965/1966,180(5): 371-386.
[3]左爱秋 基于双目体视的六自由度平台位姿视觉闭环控制基础研究 浙江大学博士毕业论文 1999．11
[4]黄真 孔令福 方跃法 并联机器人机构学理论及控制 北京：机械工业出版社 1997．
[5]Todd M Criel, Fred V Wyatt. Sandia National Laboratories Flight Simulation Facilities. Sandia Report, SAND87-2034, May 1988.
[6]Elizabeth L Martin, Wayne L Waag. Contributions of Platform Motion to Simulator Training Effectiveness: Study I-Basic Contact. ADA058416, June 1978.
[7]M E Bitner. Investigation of Motion Base Drive Techniques. ADA053830, 3 March 1978.
[8]G J P Wingate. The Development and Use of Simulators for Helicopter Flight Training in the Royal Navy. Paper Presented at the Royal Aeronautical Society Symposium on "Extending the Scope of Flight Simulation", 19 April 1978.
[9]C A Belsterling. Electrohydraulics Drives Flight Simulators—Time-Tested Hydraulic Systems Combine with Modern Electronics in Sophisticated Training Vehicles. Hydraulics & Pneumatics, Feb. 1984: 37-40.
[10]Rolling Meadows, Ⅲ. Northrop Evaluating Missile Seekers. Aviation Week & Space Technology, July 5,1993.
[11]B L Harris. Electrohydraulic Servo Simulate Motion of Genuine Ozark Submarine. Hydraulics & Pneumatic, July 1979.
[12]Eugene B Hartnett. A Simulation Study of a Twelve Degree of Freedom System. ADA044756,March 1977.
[13]S Luthander. A Simulator Study of Aircraft Ground-Run Handling in the Fosin Research Simulator: Some Results and Experiences. Paper Presented at the Royal Aeronautical Society Symposium on "Extending the Scope of Flight Simulation" held on 19 April 1978.
[14]Takashi Nakada, Emeritus. Servo-Elastic Actuators Applied to Attitude Control of a Heavy Floating Platform. Proceeding of the 7th World Congress, 7-22 Sept. 1987, Sevilla,Spain.
[15]James E Dieudonne, Russell V Parrish, Richard E Bardusch. An Actuator Extension Transformation for a Motion Simulator and an Inverse Transformation Applying Newton-Raphson's Method. NASA TN D-7067, Nov. 1972.
[16]G M Mckinnon. Hydraulic Servomechanisms in Flight Simulation. Hydraulics & Pneumatics, Oct. 1981: 148-151.
[17]W R Sturgeon. Controllers for Aircraft Motion Simulators. AIAA 18th Aerospace Sciences Meeting, Pasadena, California, Jan. 14-16, 1980.
[18]E.F.Fichter. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int. J. Robot. Res., 1986, 5(2): 157-182.
[19]M. Jamshidi, C. C. Nguyen, Eds. Special Issue on "Parallel Closed-Kinematic Chain Manipulators". J. Robot.Syst.,10(5),1993.
[20]Amirat Y, Artigue F, Pontnau J. Six Degree of Freedom Parallel Robots with C5 Links. Robotica, 1992,10:35-44.
[21]陈慧琴 六自由度的机器人手臂 机器人技术与应用 1995(4)：14-18．
[22]林来兴 空间交会对接的仿真技术 航天控制 1990(4)：66-71．
[23]林来兴 工程仿真技术在航天器控制系统中应用 信息与控制 1985(3)：38-44．
[24]林来兴 空间交会对接技术 北京：国防工业出版社 1995．
[25]Russel V Parrish, James E Dieudonne, Dennis J Martin. Motion Software for a Synergistic Six-Degree-of-Freedom. NASA TN D-7350.
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