树木涂白车结构及控制系统设计  

Design of structure and control system of tree whitening car

作　　者：李帅 吴志东[1,2] 刘美奇 刘晨明 徐凯祥 冯瑞琴 LI Shuai;WU Zhi-dong;LIU Mei-qi;LIU Chen-ming;XU Kai-xiang;FENG Rui-qin(School of Mechanical and Electronic Engineering,Qiqihar University,Heilongjiang Qiqihar 161006,China;Heilongjiang Province Collaborative Innovation Center for Intelligent Manufacturing Equipment Industrialization,Heilongjiang Qiqihar 161006,China;Qiqihar Kainong Technology Co.,LTD.,Heilongjiang Qiqihar 161000,China)

机构地区：[1]齐齐哈尔大学机电工程学院,黑龙江齐齐哈尔161006 [2]黑龙江省智能制造装备产业化协同创新中心,黑龙江齐齐哈尔161006 [3]齐齐哈尔市开农科技有限公司,黑龙江齐齐哈尔161000

出　　处：《齐齐哈尔大学学报（自然科学版）》2023年第3期30-32,45,共4页Journal of Qiqihar University(Natural Science Edition)

基　　金：2022年省级大学生创新创业训练计划资助项目(202210232005);教育部产学合作协同育人项目(220602817220926);黑龙江省高等教育教学改革研究一般研究项目(SJGY20220410);黑龙江省教育科学“十三五”规划2020年度重点课题(GJB1320388);齐齐哈尔大学教育科学研究项目(GJQTYB202212);齐齐哈尔大学党建研究课题(QQHRUDJ2022-26)。

摘　　要：针对树木人工涂白效率低、涂白不均匀以及涂白剂对人体伤害大等问题,设计自动涂白车机械结构及控制系统。机械结构由车体、机械臂以及圆筒喷涂结构组成;控制系统以STM32单片机为核心,流量传感器监测喷涂流量,液位传感器检测桶内喷涂剂液面位置,超声波传感器检测车体与树木间距,并采用PID控制算法精确控制喷涂量。通过MATLAB软件建立喷涂量PID控制模型,结果表明,响应时间为0.4 s,超调量小于3%,能够高效且稳定控制喷涂流量。涂白车结构及控制系统设计可以为城市绿化设备提供技术保障。Aiming at the problems of low efficiency of artificial tree whitening,uneven whitening and great harm to human body,the automatic whitening vehicle based on the mechanical structure and control system was designed.The mechanical structure was mainly composed of car body,mechanical arm and cylinder spraying structure.The control system was based on STM32 microcontroller,which integrated flow sensor to monitor spraying flow rate,float level sensor to detect the position of spraying agent liquid level in the barrel,and ultrasonic sensor to detect distance between car body and trees,and the PID control algorithm was used to realize the precise control of spraying volume.The PID control model of spraying volume was established by MATLAB software.The results showed that the response time was 0.4 s and the overshoot was less than 3%,which can effectively and stably control the spraying flow.The design of structure and control system of tree whitening car can provide technical support for urban greening equipment.

关 键 词：树木涂白 结构设计 MATLAB仿真 PID控制 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]