农用轮式机器人运动控制系统设计与试验  

Design and Experiment of Motion and Control System on the Wheeled Robot

作　　者：李格伦 崔天时[1] 刘春莉 王锐 王立峰 

机构地区：[1]东北农业大学电气与信息学院,哈尔滨150030

出　　处：《农机化研究》2018年第2期192-196,共5页Journal of Agricultural Mechanization Research

基　　金：国家"863计划"项目(810028)

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.

关 键 词：农用轮式机器人 三级递阶控制 CAN总线 

分 类 号：S24[农业科学—农业电气化与自动化] TP242[农业科学—农业工程]