【作者】 黄步雨；

【导师】 杨庆华； 高峰；

【作者基本信息】 浙江工业大学 ， 机械电子工程， 2008， 硕士

【摘要】 农业机器人不仅可以缓解农业劳动力的不足,还可以提高劳动生产率,改善农业生产环境。在我国目前研究的农业机器人中,主要采用的是国外进口的关节及其运动控制系统,价格昂贵,不利于农业机器人的推广和应用。本课题使用实验室自行研制的农业机器人关节为控制对象,着重研究农业机器人的关节伺服驱动系统。系统采用三级多CPU结构,以高性能芯片dsPIC30F4012和AS5045为核心,并用CAN总线组成分布式局域控制网络,使系统具有较好的实时性。本文首先建立农业机器人关节直流伺服驱动系统的数学模型,采用电流内环、位置外环的控制策略。其中,系统的电流环采取积分分离的PI控制算法,位置环采用PID参数Fuzzy自整定控制算法,并用Matlab语言中的Simulink进行仿真。同时为得到农业机器人关节电机运动的平滑控制,设计了一种基于位置模式的余弦—直线速度曲线优化算法及其软件实现。接着,设计了伺服系统的硬件电路及其相应的PCB板,构建了系统应用程序的总体框架,分别开发了上位PC机软件和下位驱动器软件,编写了系统软件的源代码。最后搭建实验平台,对农业机器人关节电机的位置闭环控制进行了实验研究。仿真与实验结果表明:系统具有较快的响应速度、较高的控制精度,为研发具有自主知识产权的农业机器人果实采摘机械臂及其控制系统奠定基础。更多还原

【Abstract】 Agricultural robot could help to mitigate the shortage of agricultural labor force, improve agricultural condition, also with high productivity. Now, the joint and its control system in agricultural robot in our country mostly bought from abroad, which was expensive and unsuitable for agricultural robot’s promotion and application.The keystone of this thesis was to research agricultural robot’s servo drive system, which used own laboratory developed joint of agricultural robot for the control target. The system used three-Multi-CPU structure, had dsPIC30F4012 and AS5045 for the based chips, and used CAN-Bus to construct distributed control network, so that the system could have better real-time accuracy.In this paper, firstly I constructed the control model, adopted two closed-loop structure with the inner current loop and the outer position loop for the system, which the current loop was based integral separation PI control algorithm, the position loop was based PID control and the parameters were real-time self-modified by fuzzy theory, and analyzed the simulated result with Matlab. Meanwhile I designed a sort of cosine-beeline speed curve optimizing algorithm based on position mode, so that the agricultural robot joint motor could move smoothly.Secondly, the hardware circuit of servo system and corresponding PCB board were designed, the overall framework of the application procedure was constructed, the upper PC software and lower driver software were developed, and the system software source code was programmed.Finally, research on position close loop of agricultural robot joint motor was carried out by experiments successfully. The system had faster response speed and higher precision control. That was of great significance for developing fruit picking robotic arm and its control system with independent intellectual property rights.更多还原