基于INtime的六自由度运动平台实时测控系统

在六自由度运动平台的测控系统中,既需要满足控制的实时性和较高的定时精度,又需要有较强的图形图像交互功能。针对现有测控系统采用的上下位机分开实现方式带来的缺点,设计了一种基于INtime的六自由度运动平台实时测控系统。该测控系统通过INtime进程对数据采集和控制板卡的直接操作实现实时性,同时在Windows进程中并行运行非实时任务,能够在一台工业控制计算机上实现测控系统的要求。实际运行测试结果显示,该系统具有高实时性能,满足实时控制的要求,图形渲染流畅,验证了该方案的可行性和有效性。

Real-time inspection and control system for six DOF platform based on INtime

As for six Degree Of Freedom (DOF) platform, its inspection and control system should not only meet the requirement for real-time control, but also has powerful graphic interface. Because of the disadvantages of the existing system, this paper designed a real-time inspection and control system which can meet both requirements in an industrial computer based on INtime. In this system, the method of direct operating on data acquisition and control cards was adopted by INtime process, to obtain real-time performance; in the meantime, nonreal-time tasks were handled by Windows process. The test results of real running demonstrate that the system has high real-time performance, and the animation of platform in user interface is rendered fluently, and verifies the feasibility and effectiveness of the system.