农用轮式机器人运动控制系统设计与试验
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摘要
针对农用轮式机器人控制系统的实时性和农田环境精确控制能力欠缺等问题,提出了以STM32作为系统控制核心,DSP作为电机驱动核心,基于数传电台和CAN总线的嵌入式控制系统。设计中,创新性地采用三级递阶控制方案对机器人进行模块化编程,并采用机器人地面站软件平台对轮速进行实时监测。实际运行结果表明:该控制系统具有较高可靠性和稳定性,且系统扩展能力强。
For poor real-time and accurate control problems of agricultural wheeled robot control system,put forward a system of STM32 as control core,DSP as the motor drive core,based on digital radio and CAN bus communication of embedded control system,adopts innovative three-level hierarchical control scheme for mobile robot modular programming. And uses the ground mobile robot real-time monitoring software platform for mobile robot,the actual running results show that this control system has high reliability and stability,and the system expansion ability.
For poor real-time and accurate control problems of agricultural wheeled robot control system,put forward a system of STM32 as control core,DSP as the motor drive core,based on digital radio and CAN bus communication of embedded control system,adopts innovative three-level hierarchical control scheme for mobile robot modular programming. And uses the ground mobile robot real-time monitoring software platform for mobile robot,the actual running results show that this control system has high reliability and stability,and the system expansion ability.
引文
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[4]Yang Hao,Vincent C,Jiang Bin.Optimal fault-tolerant path-tracking control for 4WS4WD electric vehicles[C]//Transactions on Intelligent Transportation Systems.LA:IEEE,2010:237-243.
[5]王静,张倩,朱晓言,等.基于CAN总线的联合收割机脱粒滚筒测控系统研究[J].农机化研究,2012,34(1):71-75.
[6]Zhao Jie,Cui Xindan,Zhu Yanhe,et al.A new reconfigurable modular robotic system with multimode locomotion ability[J].International Journal,2012,4(2):178-190.
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[8]高焕文.保护性耕作技术与机具[M].北京:化学工业出版社,2004:119-141.