奶牛步态模拟装置运动控制系统的研究

发布时间：2018-01-14 03:15

本文关键词：奶牛步态模拟装置运动控制系统的研究　出处：《内蒙古农业大学》2017年硕士论文　论文类型：学位论文

【摘要】：奶牛跛行是第二大影响奶业发展的疾病。奶牛跛行给养殖场带来严重的经济损失,而且奶牛在跛行早期时不易被察觉,很难准确识别。因此,设计一套奶牛步态模拟装置,通过对装置的运动参数控制模拟奶牛不同健康状态下的步态,明确奶牛跛行前后的运动特征是十分必要的。对于运动参数的模拟是奶牛步态模拟装置的关键之处,因此设计出一款具有很高稳定性和可靠性的运动控制系统至关重要。针对受奶牛跛行影响的几个主要运动参数,设计了奶牛步态模拟装置,该部分由机械部件和电气控制部件组成。本文主要针对电气控制部件进行研究,以运动控制器作为控制核心,实现对多电机的联动控制以及上位机和触摸屏的准确控制,完成对奶牛运动参数模拟的控制要求。根据设计的运动控制系统方案,选择适用的电气元件,完成运动控制系统的相关电路设计以及电气控制柜的设计和制作。分析和研究运动控制的运行流程,完成运动控制器运动控制程序的编写。选用触摸屏作为运动控制系统的人机交互接口以实现对运动控制系统相关参数的设置以及信号的集中显示,并可以实时观察和记录当前参数的运行数据。利用美国Tekscan公司生产的Walkway和传感器对运动控制系统的稳定性进行了试验研究。试验结果显示:装置的运行速度的测试值与计算值的误差率范围为-2.71%～1.91%;运行距离的测试值与计算值的误差率范围为-1.71%～2.64%;在牛蹄前后、左右偏转角度的控制上,转动角度的测量值与计算值的误差率范围分别为0%～1.90%和-2.30%～0%;在下踏压力及支撑时间控制上,伺服电动缸的推力值在1s左右达到预设值,并且能够稳定运行,测得支撑时间的平均值为1.132s,时间短,比较接近健康奶牛行走时单肢的支撑时间;在装置整体运动参数的控制上,实际测量值与设定值的误差范围小。该运动控制系统在奶牛步态模拟装置的运动参数控制上比较准确,装置整体动作协调,运行上相对稳定,可以满足模拟奶牛运动参数的控制要求。
[Abstract]:Cow claudication is the second most important disease that affects the development of dairy industry. Cow claudication brings serious economic loss to the farm, and the cow is difficult to detect in the early stage of claudication, so it is difficult to identify accurately. A gait simulation device was designed to simulate the gait of dairy cows under different health conditions by controlling the movement parameters of the device. It is very necessary to know the movement characteristics of cow before and after lameness, and the simulation of motion parameters is the key of the simulation device of dairy cow gait. Therefore, it is very important to design a motion control system with high stability and reliability. This part is composed of mechanical components and electrical control parts. This paper mainly focuses on the electrical control components, with the motion controller as the control core. The linkage control of multi-motor and the accurate control of upper computer and touch screen are realized, and the control requirements of simulation of dairy cow motion parameters are fulfilled. According to the design of motion control system, the suitable electrical components are selected. Complete the related circuit design of motion control system and the design and manufacture of electric control cabinet. Analyze and study the running flow of motion control. The touch screen is chosen as the man-machine interface of the motion control system to realize the setting of the related parameters of the motion control system and the centralized display of the signal. The operation data of current parameters can be observed and recorded in real time. The stability of motion control system is studied by using Walkway and sensors produced by Tekscan Company of USA. Display:. The error rate range of the test value and the calculated value of the running speed of the device is -2.71 and 1.91; The range of error rate between the test value and the calculated value of running distance is -1.71and 2.64; In the control of the left and right deflection angle, the error rate between the measured value of rotation angle and the calculated value is 1.90% and -2.30%, respectively. The thrust value of the servo electric cylinder reaches the preset value in 1 s or so, and can run stably. The average of the measured support time is 1.132 s, and the time is short. The support time of one limb was close to the walking time of healthy cows. In the control of the whole motion parameters of the device, the error range between the actual measurement value and the set value is small. The motion control system is more accurate in the control of the motion parameters of the dairy cow gait simulation device, and the whole movement of the device is coordinated. It is relatively stable in operation and can meet the control requirements of simulated dairy cow motion parameters.
【学位授予单位】：内蒙古农业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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