农业机器人智能关节直流伺服驱动系统的研究
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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。
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.
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。
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.
引文
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[20]咎永才.脉冲调制技术在伺服系统中的应用[J].航空兵器,2001,2:29-32.
[21]王晓明.电动机的单片机控制[M].北京:北京航天航空大学出版社,2002,125-142.
[22]邓星钟.机电传动控制[M].武汉:华中科技大学出版社,2001,10-101.
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[29]邬宽明.CAN总线原理和应用系统设计[M].北京:北京航天航空大学出版社,1996.
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[31]谭爱华.手臂康复训练机器人控制系统研究:[硕士学位论文].哈尔滨:哈尔滨工程大学,2003:12-18.
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[36]李国勇.智能控制及其MATLAB实现[M].西安:电子工业出版社,2005:8-102.
[37]张崇巍,李汉强.运动控制系统[M].武汉理工大学出版社,2002:26-30.
[38]王忠礼,段慧达,高玉峰等.MATLAB应用技术-在电气工程与自动化专业中的应用[M].北京:清华大学出版社,2007.
[39]宋胜利,左敦稳,王珉等.PID参数模糊自调整技术的应用研究[J].机床与液压,2003(1):157-159.
[40]李卓,萧德云,何世忠.基于Fuzzy推理的自调整PID控制器[J].控制理论与应用,1997,14(2):238-243.
[41]李人厚.智能控制理论和方法[M],西安:西安电子科技出版社,1999.
[42]诸静.模糊控制理论与原理[M].机械王业出版社,2004:168-182.
[43]闻新.Matlab模糊逻辑工具箱的分析与应用.北京:科学出版社.2002。
[44]Microchip Technology Inc.dsPIC30F4011/4012 datasheet,dsPIC30F Family Reference Manual,2007.
[45]何礼高.dsPIC30F电机与电源系列数字信号控制器原理与应用[M]。北京:北京航天航空大学出版社,2007.
[46]王晓明.电动机的DSP控制-TI公司DSP应用[M].北京:北京航空航天大学出版社,2003.10.
[47]吴守箴,臧英杰。电气传动的脉宽调制控制技术[M].北京:机械工业出版社,199R:40-483
[48]IR2104,HALF-BRIDGE DRIVER,Product specification,International Rectifier,2004.
[49]王兆安,黄俊.电力电子技术[M].北京:机械工业出版社,2001。
[50]Austriamicro systems.AS5045 12 bit programmable magnetic rotary encoder datasheet.2005.
[51]MCP6001/2/4-1MHz Bandwidth Low Power Op Amp,Product specification,Microchip Technology Inc,2005.
[52]阳宪惠.工业数据通信与控制网络[M].北京:清华大学出版社,2003,84-85.
[53]MCP2551,High-Speed CAN Transceiver,Product specification,Microchip Technology Inc,2005。
[54]钱照明,程肇基.电力电子系统电磁兼容设计基础与干扰抑制技术[M].浙江:浙江大学出版社,2000。
[55]Henry W.Ott.电力系统中噪声的抑制与衰减技术[M].北京:电力工业出版社,2003.
[56]杨长春,徐守坤等.Delphi程序设计教程[M].北京:清华大学出版社,2005。
[57]杨华民,李方超等.Delphi函数参考大全[M].北京:人民邮电出版社,2006.
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[61]王幸之.单片机应用系统抗干扰技术[M].北京:北京航天航空大学出版社,2000.
[2]Hagras H,Callaghan V,Colley M,et al.A behaviour based hierarchical fuzzy control architecture for agricultural autonomous mobile robots[C].Vienna-Austria:The International Conference on Computational Intelligence for Modelling,Control and Automation,1999.172-177.
[3]Marchant J.Agriculmre-a challenge to robotic science[J].Industrial robot,1998,25(5):308-309.
[4]Hollingum J.Robots in agriculture[J].Industrial robot,1999,26(6):438-445.
[5]曹其新.日本蔬菜和水果拣选机器人的发展状况[J].机械设计与研究,1998,(4):9-11.
[6]王端良.各种各样的农业机器人[J].机器人技术与应用,2000,(5):17.
[7]Edan Y.Design of an autonomous agricultural robot[J].The Int.Journal of Applied Intelligence,1995,5(1):41-50.
[8]宋健.开放式茄子采摘机器人关键技术研究:[博士学位论文].北京:中国农业大学,2006.
[9]王树国等.智能机器人的现状及未来[J].机器人技术与应用,1998,1.
[10]胥芳,张立彬,计时鸣,等.设施农业中的机械化装备及其技术发展[J].浙江工业大学学报,2001,29(2):136-141.
[11]方建军.采摘机器人开放式控制系统设计,农业机械学报,2005,5.
[12]汤修映.果蔬收获机器人系统的研究:[博士学位论文].北京:中国农业大学,2006.
[13]徐丽明.草莓收获机器人系统的研究:[博士学位论文].北京:中国农业大学,2005.
[14]敖荣庆,袁坤.伺服系统[M].北京:航空工业出版社,2006,9.
[15]范正翘.电力传动与自动控制系统[M].北京:北京航天航空大学出版社,2003,8.
[16]B.Bahr,Y.Li and M.Najafi.Design and Suction Cup of a Wall Climbing Robot.Computers Elect[J].Engng.1996,22(3):193-209.
[17]李俊等.直流伺服电动机用功率运算放大器的驱动方法[J].微电机.2000,(1):1-10.
[18]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社,2002.
[19]谭建成.电机控制专用集成电路[M].北京:机械工业出版社,2002,3:39 1-398.
[20]咎永才.脉冲调制技术在伺服系统中的应用[J].航空兵器,2001,2:29-32.
[21]王晓明.电动机的单片机控制[M].北京:北京航天航空大学出版社,2002,125-142.
[22]邓星钟.机电传动控制[M].武汉:华中科技大学出版社,2001,10-101.
[23]陈隆昌,阎治安,刘新正.控制电机[M].西安:西安电子科技大学出版社,2004,30-31.
[24]http://www.yggtwdj.com/prodmain.asp?id=52.
[25]范永,谭民.机器人控制器的现状及展望[J].机器人,1999,21(1):75-80.
[26]孙迪生,王炎.机器人控制技术[M].北京:机械工业出版社,1998.
[27]Ling Y L C,et al.A VLSI Robotic Vector Processor for Real-time Control.IEEE Int Conf on Robotics and Automation,1988.
[28]Sadayappan P,et al.A Restructurable VLSI Robotics Vector Processor Architecture for Real-time Control.IEEE Trans on Robotics and Automation,1989,15(5).
[29]邬宽明.CAN总线原理和应用系统设计[M].北京:北京航天航空大学出版社,1996.
[30]张立勋,董玉红。现代机电系统仿真与设计[M].哈尔滨:哈尔滨工程大学出版社,2004:67-72.
[31]谭爱华.手臂康复训练机器人控制系统研究:[硕士学位论文].哈尔滨:哈尔滨工程大学,2003:12-18.
[32]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.
[33]谭民,徐德,侯增广等.先进机器人控制[M].北京:高等教育出版社,2007.
[34]刘胜,彭侠福,叶瑰昀.现代伺服系统设计[M].哈尔滨:哈尔滨工程大学出版社,2001:231-234.
[35]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].北京:机械工业出版社,1998.
[36]李国勇.智能控制及其MATLAB实现[M].西安:电子工业出版社,2005:8-102.
[37]张崇巍,李汉强.运动控制系统[M].武汉理工大学出版社,2002:26-30.
[38]王忠礼,段慧达,高玉峰等.MATLAB应用技术-在电气工程与自动化专业中的应用[M].北京:清华大学出版社,2007.
[39]宋胜利,左敦稳,王珉等.PID参数模糊自调整技术的应用研究[J].机床与液压,2003(1):157-159.
[40]李卓,萧德云,何世忠.基于Fuzzy推理的自调整PID控制器[J].控制理论与应用,1997,14(2):238-243.
[41]李人厚.智能控制理论和方法[M],西安:西安电子科技出版社,1999.
[42]诸静.模糊控制理论与原理[M].机械王业出版社,2004:168-182.
[43]闻新.Matlab模糊逻辑工具箱的分析与应用.北京:科学出版社.2002。
[44]Microchip Technology Inc.dsPIC30F4011/4012 datasheet,dsPIC30F Family Reference Manual,2007.
[45]何礼高.dsPIC30F电机与电源系列数字信号控制器原理与应用[M]。北京:北京航天航空大学出版社,2007.
[46]王晓明.电动机的DSP控制-TI公司DSP应用[M].北京:北京航空航天大学出版社,2003.10.
[47]吴守箴,臧英杰。电气传动的脉宽调制控制技术[M].北京:机械工业出版社,199R:40-483
[48]IR2104,HALF-BRIDGE DRIVER,Product specification,International Rectifier,2004.
[49]王兆安,黄俊.电力电子技术[M].北京:机械工业出版社,2001。
[50]Austriamicro systems.AS5045 12 bit programmable magnetic rotary encoder datasheet.2005.
[51]MCP6001/2/4-1MHz Bandwidth Low Power Op Amp,Product specification,Microchip Technology Inc,2005.
[52]阳宪惠.工业数据通信与控制网络[M].北京:清华大学出版社,2003,84-85.
[53]MCP2551,High-Speed CAN Transceiver,Product specification,Microchip Technology Inc,2005。
[54]钱照明,程肇基.电力电子系统电磁兼容设计基础与干扰抑制技术[M].浙江:浙江大学出版社,2000。
[55]Henry W.Ott.电力系统中噪声的抑制与衰减技术[M].北京:电力工业出版社,2003.
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