果林机器人行走驱动闭环控制分析  

Analysis of Motion Drive Closed-loop Control for Fruit-trees Robots

作　　者：余嘉傲[1] 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《现代电子技术》2011年第11期133-134,138,共3页Modern Electronics Technique

基　　金：国家"863"计划资助项目(2006AA10Z255)

摘　　要：该研究旨在选取控制机器人运动的合理方式。以履带式果林机器人为背景,分析了果林机器人运动双电机控制系统。基于步进直流电机转速增量式PID闭环控制算法,计算了PID控制器比例系数、积分系数和微分系数。仿真和试验表明:当机器人左、右电机以3 000 r/min的速度在地面上直线运行时,采用转速增量式PID控制比开环控制电机响应速度快,稳定性能好。结果提示,转速增量式PID控制方式是有效合理的。This research is conducted to select the reasonable control mode of the robots.Taking the track fruit-trees robot as an example,the fruit-trees robot′s dual-motor control system is analyzed.Based on the speed incremental PID closed-loop control algorithm of the step DC motor,the proportional coefficient,integral coefficient and differential coefficient of PID controller is calculated.The stimulation and experiments demonstrates that the speed incremental PID control is better than the open-loop control motor in the response speed and stability when the robot is running in a straight line on the ground at the 3000 rpm.These results indicate that the mode of the speed incremental PID closed-loop control is most reasonable.

关 键 词：果林机器人 双电机驱动 PID闭环控制 电机响应速度 

分 类 号：TN911-34[电子电信—通信与信息系统]