基于PID直流电机驱动的移动式采摘机器人设计  

Design of Mobile Picking Robot Based on DC Motor Driving Circuit

作　　者：李仁[1] 石新龙 Li Ren;Shi Xinlong(Henan Polytechnic Institute, Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2021年第4期230-233,共4页Journal of Agricultural Mechanization Research

基　　金：河南省高等学校重点科研项目(19B520078)。

摘　　要：为了提高移动式采摘机器人的控制效率和移动精度,将直流电机驱动电路引入到采摘机器人移动控制系统的设计中,并采用PID算法对移动速度进行调节,从而避免采摘机器人在移动过程中产生较大的速度波动,提高其作业时的平稳性。为了验证PID算法在采摘机器人移动控制系统上使用的可行性,模拟葡萄采摘机器人的作业环境,对采摘机器人移动过程的速度控制进行了仿真模拟,结果表明:达到速度预定目标时,PID算法比常规算法具有更快的响应速度,调节过程也更加平稳。In order to improve the control efficiency and moving precision of the mobile picking robot,it introduced the DC motor driving circuit into the design of the mobile control system of the picking robot,and the moving speed is adjusted by using the PID algorithm,so that the speed fluctuation of the picking robot can be avoided and the stability of its operation can be improved.In order to verify the feasibility of using the PID algorithm in the mobile control system of the picking robot and to simulate the working environment of the grape picking robot,it simulated the speed control of the picking robot's moving process.From the obtained curve of the speed changing with time,it can be seen that the PID algorithm has faster response speed than the conventional algorithm when the speed is predetermined and more smooth.

关 键 词：采摘机器人 移动控制 直流电机驱动 PID算法 响应速度 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]