Embedded Control System for Six-DOF Electro-hydraulic Motion Platform

Six-degree-of-freedom electro-hydraulic motion platform (SEMP), which is an integration of a mechanical system, a hydraulic system and a control system, is kind of a high performance equipment. The control system is the core component of SEMP. But controllers for SEMP now are commonly motion controllers or industrial control computers, which are expensive, large and inconvenient. In this paper, a SEMP is established and the main parameters of the SEMP are shown. Based on a real-time operating system μC/OS-III, an embedded control system, which has advantages of cheap to buy, easy to manufacture and, small and convenient to move, is designed. And the main design schemes of hardware and software are shown in allusion to functional modules of the control system. The whole system including the test rig of the SEMP, the embedded control system and an upper computer is established. System trajectory experiments are carried out. The results show that the embedded control system designed can totally meet the control demands. This embedded control system designed has good interactivity, flexibility and performance.