基于Quarc的并联稳定平台半实物仿真研究

王洪瑞， 张见， 肖金壮， 王立玲

(河北大学 电子信息工程学院，河北 保定 071002)

摘要： 针对球面并联稳定平台的图形建模难度大、开发效率低、参数调整复杂,Simulink 虽有强大的图形建模优势,但缺少半实物仿真应用外部实物接口模块的问题，提出了Quarc软件与Simulink软件相结合的混合编程方案。该方案使图形建模简单，增加了实物接口，方便了半实物仿真应用的开发，提高了开发效率。在硬件设计上采用NI公司生产的PCI6230运动控制板卡与控制器通信。实验采用并联六自由度运动平台模拟外部激励施加到稳定平台上，得到了稳定平台实际的响应曲线。实验结果表明，系统具有良好的人机界面、方便实用，稳态精度高，动态性能好，运行稳定。为研究开发满足不同武器系统要求的稳定平台提供了参考依据和实验数据。

关键词： 并联稳定平台; Quarc; 半实物仿真

中图分类号：TP 272                             文献标志码：A

Hardwareintheloop Simulation of Parallel

Stabilized Platform Based on Quarc

WANG Hongrui， ZHANG Jian， XIAO Jinzhuang， WANG Liling

(College of Electronic and Information Engineering, Hebei University, Baoding 071002，China)

Abstract: To construct a spherical parallel stability platform, the difficulties of graphical modeling are including low efficiency in development and complex in parameter adjustment. Although Simulink has an obvious advantage in graphical modeling, the critical problem is shortage of external physical interface module of hardwareintheloop simulation. This paper proposes a mixed programming which combines Quarc and Simulink software to simplify the graphical modeling, increase the physical interface, facilitate development of semiphysical simulation, and improve the development efficiency. For the hardware design, PCI6230 board which is produced by NI corporation and controller are used to achieve communication. The experiment uses 6DOF parallel motion platform to simulate the external excitation, which is applied to stability platform to obtain the real response curve. As a result, the system has been proved with a good manmachine interface, high accuracy, good dynamic performance and stable operation. The results in this paper offer important reference basis and experimental data for the stablility platform research to satisfy the requirements for different weapon systems.

Key words: parallel stabilized platform; Quarc; hardwareintheloop simulation

收稿日期： 20140421

基金项目： 河北省科技支撑计划项目(07212106D).

 作者简介： 王洪瑞（1956—），男，教授，博士生导师.