基于CompactRIO的小麦精播机器人控制系统  

R&D of wheat seed robot control system based on CompactRIO

作　　者：林海波[1] 董树亮[1] 张颖[1] 孙中旭 仪垂杰[1] 

机构地区：[1]青岛理工大学机械工程学院,青岛266520

出　　处：《仪器仪表学报》2013年第S1期99-105,共7页Chinese Journal of Scientific Instrument

摘　　要：小麦单粒精播技术能够增加产量,节省良种,但是其推广的关键在于开发合适的小麦精密播种机械。本文围绕小麦精播机器人的要求,设计了一个四轮驱动四轮转向移动平台,以NI CompactRIO为核心开发了小麦精播机器人控制系统。本文基于PID控制算法,设计开发了变参数PID控制器,实现精播机器人的精确转弯、行走和排种等动作的自动控制,最后通过实验对设计的控制系统进行了验证,播种精度达到93%。Single wheat sowing technique can increase sperm production, saving seeds, but the key of application lies in its promotion of the development of suitable wheat precision seeding machinery. In this paper, focusing on wheat precision seeding agronomic requirements, a four-wheel drive four-wheel steering mobile platform was designed and a wheat precision seeding control system was developed based on the NI CompactRIO. A variable parameter PID controller was designed and developed based PID control algorithm, to achieve the robot automatic steering, walking and precision sowing. Finally, the control system was verified by experiments, sowing accuracy of 93%.

关 键 词：精密播种 机器人控制 四轮驱动四轮转向 变参数PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]