Development software for stabilization platform
Jonas M.C. Nilsson · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2006
This Master thesis describes the development and modification of already existing assembler software for the DRUi 360. The DRUi is a controller unit for stabilization tasks mostly used in the military industry. The DRUi controls the stabilization platform which has the purpose to simulate a moving vehicle. The aim with this platform is for internal development of new hardware and software, evaluate new ideas and components for stabilization systems. The platform is also an internal education system for the engineers. The DRUi receives the input reference signal from the Ground Profile Generator which is a graphical interface running on a PC were the user has the ability to create or send already recorded road signals from a moving vehicle to the driver unit. In this case the DRUi. The main used software’s for this project are Code Composer Studio for programming the DRUi software and LabVIEW which is a graphical programming language used to program the Ground Profile Generator. A theoretical study of motion control is performed together with getting familiar of al the equipment. The new software for the DRUi is adapted and implemented. Filter design for the regulator unit and necessary measurements on the test stand are presented together with the results of the production run of the stabilization platform. The stabilization platform is not fully running when this thesis ended. When the production test was performed disturbances appeared in the system. The reasons for these disturbances are not yet discovered. Al safety routines needed for running the platform secure and prevent system damage are implemented to the system software.