基于模糊PID控制的采摘机器人行走系统设计  

Design of Walking System of Picking Robot Based on Fuzzy PID Control

作　　者：杨旭[1] Yang Xu(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》2023年第10期211-214,218,共5页Journal of Agricultural Mechanization Research

基　　金：教育部科技发展中心第三批“云数融合科教创新”基金项目(2018A10004)。

摘　　要：为了提高采摘机器人行走系统翻越较小障碍物的能力,提升复杂作业环境下机器人行走的稳定性,在行走系统中引入了动力响应智能控制系统。系统利用PID控制器和模糊算法,在检测到障碍物时自动确定是否可以翻越障碍物。如果可以翻越,则会产生一个较大的翻越障碍物的动力,使机器人可以顺利行进,而无需绕行。采用ADMAS软件对系统的性能进行了测试,结果表明:在遇到障碍物后,机器人可以顺利地产生动力响应,从而顺利翻越障碍物,进而提高了采摘机器人对行走环境的适应能力。In order to improve the ability of picking robot walking system to climb over small obstacles and enhance the stability of robot walking in complex working environment,it introduced the dynamic response intelligent control system into the walking system.The system uses PID controller and fuzzy algorithm to automatically determine whether the obstacle can be crossed when it is detected.If the robot can climb over the obstacle,it will generate a larger power to climb over the obstacle,so that the robot can move smoothly without detour.Finally,it used ADMAS software to test the performance of the system.The results showed that the robot can smoothly generate dynamic response after encountering obstacles,so as to smoothly climb over the obstacles,and then improve the adaptability of the picking robot to the walking environment.

关 键 词：采摘机器人 行走系统 模糊算法 短跑训练 辅助器材 

分 类 号：S225.39[农业科学—农业机械化工程] TP242[农业科学—农业工程]