Abstract: According to the requirements of lunar sampling experiment, a motion control system based on PC control technology and high speed Ethernet bus EtherCAT technology is designed to realize the lifting, pitching and rolling high-precision position adjustment functions of the lunar landing pose simulation mechanism. The closed-loop and synchronization control strategy of the mechanism are analyzed. The inverse solution of the mechanism is deduced. The hardware structure of the control system is established. The TwinCAT software is used to develop motion control program of the mechanism. The pose adjustment function of the mechanism is realized through the combination of hardware and software. The results show that the control system can realize the continuity and synchronization of the motion of the pose adjustment mechanism, and meet the requirements of the high precision index of the sampling equipment.

Key words:

Sampling test, pose adjustment ;PC control, TwinCAT

摘要： 根据月壤采样试验需求，为实现月面着陆位姿模拟机构升降、俯仰和侧倾高精度位姿调整功能，设计出一种基于PC控制技术和高速以太网总线EtherCAT技术相结合的运动控制系统。分析了机构闭环控制和同步控制策略，推导了机构逆解算法，搭建了控制系统硬件结构，利用TwinCAT软件开发机构运动控制程序，通过软硬件结合实现机构位姿调整功能。试验结果表明此控制系统较好的实现了位姿调整机构运动的连续性和同步性，且满足采样设备的高精度指标要求。

关键词: 采样试验, 位姿调整, PC控制, TwinCAT