小麦精播机器人运动控制理论研究及应用

发布时间：2017-12-27 02:35

本文关键词：小麦精播机器人运动控制理论研究及应用　出处：《青岛理工大学》2016年博士论文　论文类型：学位论文

【摘要】：小麦精播机器人是推广小麦精播技术、提高小麦产量的关键设备,是一种典型的非完整控制系统。关于非完整系统的控制问题在理论上已有一些成熟的算法,但是其中大多数工作局限于系统精确模型下的运动规划和控制算法的理论探讨与数值仿真。当系统模型中存在不确定参数或者外部扰动项时,许多算法就不再适用。为了推动轮式移动机器人的运动控制理论在实际中的应用,研究鲁棒控制、智能控制方法在轮式移动机器人中的应用,本文以小麦精播机器人控制系统为研究对象,对小麦精播机器人的运动控制理论进行了研究。本文主要研究内容如下:(1)根据课题要求,对小麦精播机器人的总体结构进行了设计,并以非完整系统理论为基础,建立了小麦精播机器人的运动学模型和动力学模型。(2)在前期所建立的模型基础上,研究了小麦精播机器人的轨迹跟踪问题。基于Backstepping的设计方法,建立了小麦精播机器人运动学模型的轨迹跟踪控制器,使闭环系统的全局一致渐近稳定。基于滑模控制思想,设计了基于小麦精播机器人动力学模型的鲁棒轨迹跟踪控制器,通过控制器增益参数的自适应更新,较好的抑制了不确定参数及外部扰动对系统的影响,使闭环系统达到稳定。(3)建立了小麦精播机器人控制系统方案,开发了小麦精播机器人实验平台和精密排种器实验台。最后以速度为主要参数,进行了整机实验,从实验数据可以得出小麦精播机器人控制系统在排种过程中工作平稳,排种各项指标满足小麦精播的农艺要求。本文的研究成果对小麦精播机器人的开发,以及小麦精密播种技术的推广应用起到一定的推进作用,具有重要的理论意义与实用价值。
[Abstract]:The wheat precision seeding robot is the key equipment to popularize the technology of wheat precision sowing and increase the yield of wheat, and is a typical non complete control system. There are some mature theories about the control problems of nonholonomic systems, but most of them are limited to the theoretical exploration and numerical simulation of motion planning and control algorithms under the precise model of the system. When there are uncertain parameters or external disturbances in the system model, many algorithms are no longer applicable. In order to promote the application of wheeled mobile robot motion control theory in practice, research and application of robust control, intelligent control methods in wheeled mobile robot, based on wheat precision seeding robot control system as the research object of wheat precision seeding robot motion control theory research. The main contents of this paper are as follows: (1) according to the requirements of the project, the overall structure of the wheat precision seeding robot is designed, and based on the theory of nonholonomic system, the kinematic and dynamic models of the wheat precision seeding robot are established. (2) on the basis of the model established in the earlier period, the trajectory tracking problem of wheat precision seeding robot is studied. Based on the design method of Backstepping, a trajectory tracking controller for the kinematic model of a wheat precision seeding robot is established, which makes the closed-loop system globally consistent and asymptotically stable. Sliding mode control based on the idea of designing a robust trajectory tracking controller with dynamic model of wheat precision seeding robot based on adaptive updating through the controller gain parameters, can restrain the uncertain effects of system parameters and external disturbances, the closed-loop system is stable. (3) the control system of the wheat precision seeding robot was established, and the experimental platform of the wheat precision seeding robot and the precision seed metering device were developed. Finally, taking speed as the main parameter, the whole machine experiment is carried out. From the experimental data, it can be concluded that the control system of wheat precision seeding robot works smoothly in the process of seed metering, and all indicators of seed metering meet the agronomic requirements of wheat precision seeding. The research results in this paper can promote the development of wheat precision seeding robot and the popularization and application of wheat precision seeding technology, which has important theoretical significance and practical value.
【学位授予单位】：青岛理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242

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