基于SMC控制器的奶牛步态模拟装置的设计  

Design of cow gait simulator based on SMC controller

作　　者：杨丽娟[1] 徐彬腾 刘德环 房佳佳 毕力格图[1] 张永[1] 

机构地区：[1]内蒙古农业大学机电学院,呼和浩特010018

出　　处：《黑龙江畜牧兽医》2017年第12期1-5,281,282,共7页Heilongjiang Animal Science And veterinary Medicine

基　　金：国家自然科学基金项目(61563042)

摘　　要：为了准确掌握奶牛跛行后的运动特征、继而设计奶牛单腿步态模拟装置,笔者以SMC控制器作为运动控制核心,通过对电机的控制实现奶牛单腿运动步态的模拟,并结合美国Tekscan公司生产的Walkway(压力测量步道)进行运动控制系统的稳定性研究。结果表明:运动控制系统的控制性能良好,控制精度高,位置控制准确。说明该奶牛单腿步态模拟装置用于奶牛腿部运动模拟控制是可行的。The aim of the present study was to design a cow one - legged gait simulator, so that the movement characteristics of cow lameness could be clearly understood. The SMC controller was used as the core of motion control, and the simulation of cow one - legged gait was realized by the control of the motor. The stability of the motion control system was studied by using the Walkway （ pressure measurement trail） produced by America Tekscan Company. The results showed that the motion control system had good control performance, high control precision arid accurate position control. It was feasible to use the one - legged gait simulation device in the simulation control of dairy Cow leg movement.

关 键 词：奶牛 跛行 运动控制系统 步态模拟 电机 SMC控制器 触摸屏 

分 类 号：S817.3[农业科学—畜牧学] S823.91[农业科学—畜牧兽医]