绿篱修剪机控制系统硬件在环仿真平台的开发及其应用  

Development and application of hedge trimmer control system hardware-in-the-loop simulation platform

作　　者：韦锦[1] 张金来 陈昊 蒙艳玫[1] 唐治宏 WEI Jin;ZHANG Jin-lai;CHEN Hao;MENG Yan-mei;TANG Zhi-hong(College of Mechanical Engineering,Guangxi University,Nanning 530004,China;Experimental Teaching Center of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]广西大学机械工程实验教学中心,广西南宁530004

出　　处：《广西大学学报（自然科学版）》2019年第2期376-386,共11页Journal of Guangxi University（Natural Science Edition）

基　　金：广西科技计划项目(桂科AB16380235);广西本科高校特色专业及实验实训教学基地(中心)建设项目-广西大学机械设计制造及及其自动化(2018-2020)

摘　　要：为研究一种能够对绿篱树木进行自动化修剪整形的绿篱修剪机,基于Virtual Universe Pro虚拟仿真平台软件建立修剪机的虚拟结构模型及其虚拟动作模型,以研华USB475数据板卡为"桥梁"的数据接口,依托Virtual Universe Pro内部虚拟控制器将内部动作模型与外部数据输入进行耦合,以实现实际修剪机控制器与虚拟机构模型的数据驱动及数据反馈接收。融入实际的控制器,在实际控制器控制下进行绿篱修剪机虚拟模型的仿真。基于控制器在环的绿篱修剪机械手控制系统仿真测试及实验结果表明,控制器与虚拟模型间能进行正确耦合,实际控制器能够稳定可靠地实现对绿篱修剪机自动化造型修剪的控制功能,仿真模拟的场景与现实情况接近。In order to develop a hedge trimmer which can automatically trim and reshape the hedge trees,the virtual structure model of trimming manipulator and its virtual action model were established based on Virtual Universe Pro virtual simulation platform software. The USB475 data board was used as "bridge"data interface,and the internal virtual controller of virtual manipulator was used to drive the internal motion data and receive data. The virtual model of the hedge-trimming manipulator is simulated under the control of the actual controller. The simulation results of the hedge trimmer control system based on the controller-in-the-loop show that the controller can be correctly coupled to the virtual model,and the actual controller can realize the control function ofautomatic shape pruning of the hedge trimmer stably and reliably,and the simulated scene is closer to the reality and the simulated evaluation result is more reasonable.

关 键 词：绿篱修剪 机械手 硬件在环 虚拟仿真 

分 类 号：TP391.99[自动化与计算机技术—计算机应用技术]