植保机器人传动与控制系统的研究

发布时间：2018-06-04 04:14

本文选题：植保机器人 + 自动转向　；参考：《济南大学》2017年硕士论文

【摘要】：植保机器人是一种具有高度自适应能力、适合于复杂的非结构化的农业作业环境中的机器人系统。本文对植保机器人传动与控制系统进行了详尽的研究,结合葡萄园喷药作业实际情况,搭建了机器人移动平台,采用模糊PID与预瞄控制相结合实现自动转向任务和路径跟随,并通过试验验证了跟踪效果的有效性,提高了植保机器人在葡萄园农田环境的鲁棒性和适应性。研究内容分为以下几个方面:本文基于植保机器人移动平台阐述了机器人驱动方式及传动系统的基本架构,并以此为基础搭建了机器人的移动平台,为机器人的自动控制提供可能。机器人转向性能将直接影响作业效率,论文重点分析了机器人梯形转向模型的设计及流程,伺服转向采用基于方向盘转角传感器的模糊PID闭环控制策略,在搭建的仿真模型中可看到模糊PID自动转向系统具有调节速度快,超调量小的优点。文中设计了基于STM32F103ZET6为核心的中央控制单元,并以控制要求完成了核心电路及PCB电路板,完成了机器人手动模式及自动模式下程序的编写。同时,本文设计了基于预瞄控制的跟踪方法,并在MATLAB/simulink中搭建了仿真模型,结果表明,该路径跟踪方法有较好的响应及鲁棒性,可以满足机器人路径跟踪的要求。设计制造的植保机器人样机已经完成田间试验工作,试验表明,机器人能较好的完成葡萄园作业环境下的路径跟踪,满足大规模葡萄园不同生产周期内的植保作业需求。
[Abstract]:Plant protection robot is a highly adaptive robot system suitable for complex unstructured agricultural environment. In this paper, the transmission and control system of plant protection robot is studied in detail. Combined with the actual situation of spraying in vineyard, the robot mobile platform is built, and the automatic steering task and path following are realized by the combination of fuzzy PID and preview control. The effectiveness of tracking is verified by experiments, and the robustness and adaptability of plant protection robot in vineyard environment are improved. The research contents are divided into the following aspects: based on the mobile platform of plant protection robot, this paper describes the basic structure of the robot driving mode and transmission system, and builds the mobile platform of the robot on this basis. Provides the possibility for the automatic control of the robot. The steering performance of robot will directly affect the operation efficiency. The design and flow of robot trapezoidal steering model are analyzed in this paper. The servo steering adopts fuzzy PID closed-loop control strategy based on steering wheel angle sensor. In the simulation model, it can be seen that the fuzzy PID automatic steering system has the advantages of fast adjusting speed and small overshoot. The central control unit based on STM32F103ZET6 is designed in this paper. The core circuit and PCB circuit board are completed according to the control requirements, and the programming of robot in manual mode and automatic mode is completed. At the same time, the tracking method based on preview control is designed, and the simulation model is built in MATLAB/simulink. The results show that the method has good response and robustness, and can meet the requirements of robot path tracking. The plant protection robot prototype designed and manufactured has completed the field trials. The experiments show that the robot can complete the path tracking in the vineyard environment and meet the needs of the plant protection operation in the different production cycles of large-scale vineyards.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】