# Advanced Servo Control and AI Integration in 3-DoF Platforms for Enhanced Simulation Interactivity
## 4 System Overview  
This section provides an overview of the three-axis shooting platform drive and control system. Using a digital signal processor as the control core, combined with relevant hardware circuits, it achieves speed and position control. Figure 10a illustrates the block diagram of the control system, consisting of three main parts. The first part employs a digital signal processor as the control computation core. The second part comprises the hardware of the three-axis shooting platform, including a set of visual effect computers, three sets of servos, a joystick, and VR headsets. The third part primarily serves as the interface for receiving digital and network signals, including three sets of encoder signals, Can Bus, RS422, and network communication. The TMS-320F-28377D digital signal processor is a 32-bit floating-point module executing the required instructions for computation. The software program includes position and velocity calculations, iterative learning algorithms, visual effect computer network interfaces, monitoring computers, and multi-shooting platform interface programs. The visual effect computer selected was a fanless computer produced by Advantech, paired with an RTX2080 Ti graphics card, a company based in Santa Clara, CA, USA. The VR headset chosen was the Oculus model from Meta's Quest series. Figure 10b presents the 3D design diagram of the proposed three-axis platform. A detailed comparison is shown in Table 1. Figure 11 depicts the internal perspective, where personnel manipulate a three-axis joystick to track an AI enemy aircraft. Upon targeting, shooting is initiated by pressing the trigger button. The gearbox was manufactured by SPT with a gear ratio of 240. The motors selected were three TECO PBC08 ABKB servo motors, each rated at 750 watts, with parameters detailed in Table 2.  
Figure 12 illustrates the operational flowchart. Upon pressing the power button on the control box, power is supplied to the cockpit. Subsequently, the computer initiates and enters the human-machine interface. The operator executes the zeroing button, as depicted in the diagram. Once the personnel confirm readiness by being seated, the preparation button is activated. Then, through communication between the servo and the visual computer, pressing the start button enables control of the platform via the joystick. Upon  
Figure 9: AI Interface design: (**a**) cockpit view and (**b**) relationship between target aircraft and AI enemy aircraft. pressing the end button to conclude the game, the platform automatically returns to its original position. Pressing the reset button during startup or operation retains only the zero state, while all other states are cleared, awaiting new instructions. Figure 11: Aiming at AI enemy aircraft with joystick. Figure 10: Three-axis shooting platform: (**a**) control system block diagram; (**b**) 3D design diagram. The iterative learning controller and servo software were developed and debugged using Code Composer Studio (CCS) version 8.2. The vision system computer transmits joystick data via the network interface to the servo for updates, calculations, and actuation. The servo system continuously receives commands from the operating computer and transmits the internal state of the servo. The defined packet contents are displayed on the screen for the operator to monitor. Figure 12(a)-c depicts the wiring of three rotating axes. In Figure 12(a), the wire enters the yaw axis bracket hole and passes through to the top exit hole, leaving a length of 500 mm from the bracket to the rotating body. Then, it follows the servo wiring along the roll axis bracket (Figure 12(b)) and the pitch axis bracket (Figure 12(c)), while the power and signal for in-cabin use enter from the middle of the bearing on the other side of the pitch axis for internal use. Figure 13(a)-c illustrates the internal configuration of the control box, divided into three sections. The left section in Figure 13(a) consists of toggle switches and relays.