本文關(guān)鍵詞：農(nóng)用全方位移動平臺控制系統(tǒng)設(shè)計　出處：《吉林大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 全方位移動平臺 永磁無刷直流電動機(jī) DSP 控制系統(tǒng)

【摘要】：隨著農(nóng)業(yè)生產(chǎn)的技術(shù)發(fā)展,農(nóng)用機(jī)器人得到了越來越廣泛的應(yīng)用。由于農(nóng)業(yè)作業(yè)環(huán)境的復(fù)雜性和非結(jié)構(gòu)性,面向果園、蔬菜生產(chǎn)基地的農(nóng)業(yè)機(jī)器人應(yīng)用還比較有限。農(nóng)業(yè)環(huán)境下作業(yè)要求作業(yè)裝備具有很好的靈活性和適應(yīng)性。因此,研究高度靈活的工作平臺及其控制系統(tǒng)是實(shí)現(xiàn)農(nóng)業(yè)自動化作業(yè)和智能作業(yè)的首要條件。本文結(jié)合提出的主動萬向輪式農(nóng)用全方位移動平臺結(jié)構(gòu)方案設(shè)計了一種基于運(yùn)動控制卡的嵌入式控制系統(tǒng),進(jìn)行了相關(guān)理論和試驗(yàn)研究,為開發(fā)果園、蔬菜等農(nóng)業(yè)環(huán)境下自動作業(yè)裝備奠定基礎(chǔ)。主要工作內(nèi)容包括:(一)首先通過分析國內(nèi)外先進(jìn)的全方位移動平臺,提出基于DSP運(yùn)動控制卡PCI-1285為核心的控制方案。然后選擇永磁無刷直流電動機(jī)作為驅(qū)動電動機(jī)、混合式步進(jìn)電動機(jī)作為轉(zhuǎn)向電動機(jī),完成相關(guān)的硬件電路設(shè)計,其中包括驅(qū)動電動機(jī)的電源電路、驅(qū)動電路、保護(hù)電路等。最后在此基礎(chǔ)上,設(shè)計了基于Common Motion Utility開發(fā)環(huán)境的軟件系統(tǒng),其中包括系統(tǒng)參數(shù)初始化、系統(tǒng)故障檢測、中斷子程序等。(二)首先通過分析永磁無刷直流電動機(jī)的工作原理,采用兩兩導(dǎo)通的驅(qū)動方式并建立其數(shù)學(xué)模型。然后研究了其調(diào)速原理,經(jīng)推導(dǎo)得到其轉(zhuǎn)速傳遞函數(shù),根據(jù)其轉(zhuǎn)速傳遞函數(shù)及本文實(shí)際工作控制需求,確定了PWM脈寬調(diào)制的調(diào)速方法。最后通過分析五種PWM脈寬調(diào)制方式對換相轉(zhuǎn)矩波動的影響,確定了pwm-on調(diào)制方式。(三)首先對農(nóng)用全方位移動平臺控制策略進(jìn)行分析,通過比較轉(zhuǎn)矩控制和電流控制確定驅(qū)動系統(tǒng)采用轉(zhuǎn)速、電流雙閉環(huán)控制方式。然后分析移動平臺轉(zhuǎn)向時穩(wěn)定性,根據(jù)運(yùn)行速度分為同相控制和逆相控制兩種控制模式。最后根據(jù)移動平臺實(shí)際工作主要為低速運(yùn)行(35km/h),基于逆相控制模式分析其電子差速原理,并利用三角函數(shù)及比例法等數(shù)學(xué)工具推導(dǎo)其差速計算公式。(四)首先利用MATLAB提供的動態(tài)系統(tǒng)仿真工具Simulink對本文提出的永磁無刷直流電動機(jī)轉(zhuǎn)速、電流雙閉環(huán)控制系統(tǒng)進(jìn)行仿真。根據(jù)仿真得到的相電流、電磁轉(zhuǎn)矩、轉(zhuǎn)速波形證明該控制系統(tǒng)基本能夠完成控制要求。最后結(jié)合Simulink仿真結(jié)果對驅(qū)動電動機(jī)進(jìn)行試驗(yàn),檢測其空載線電壓、帶載線電壓、帶載相電流以及在踏板位置傳感器不同開度時電動機(jī)的轉(zhuǎn)速。實(shí)驗(yàn)結(jié)果表明控制器反應(yīng)迅速,基本能夠完成控制要求,并根據(jù)在踏板位置傳感器不同開度時電動機(jī)的轉(zhuǎn)速的實(shí)際檢測結(jié)果,計算分別在正、反轉(zhuǎn)時每個電動機(jī)電壓與轉(zhuǎn)速的線性關(guān)系表達(dá)式,為移動平臺整車控制分配加速信號提供理論基礎(chǔ)。
[Abstract]:With the development of agricultural production technology, agricultural robots have been more and more widely used. Because of the complexity and non-structure of agricultural operating environment, it is oriented to orchard. The application of agricultural robots in vegetable production base is still limited. In the agricultural environment, the operating equipment is required to have good flexibility and adaptability. The study of highly flexible working platform and its control system is the most important condition to realize agricultural automation and intelligent operation. This paper designs a basic structure of active universal wheeled agricultural omnidirectional mobile platform. Embedded control system based on motion control card. The related theory and experimental research were carried out to lay the foundation for the development of automatic operating equipment in the agricultural environment such as orchards vegetables and so on. The main contents include: (1) through the analysis of the advanced omnidirectional mobile platform at home and abroad. This paper presents a control scheme based on DSP motion control card PCI-1285, and then selects permanent magnet brushless DC motor as driving motor and hybrid stepping motor as steering motor. Complete the related hardware circuit design, including the drive motor power circuit, driving circuit, protection circuit. Finally, on this basis. A software system based on Common Motion Utility development environment is designed, which includes system parameter initialization and system fault detection. First of all, by analyzing the working principle of permanent magnet brushless DC motor, adopting the driving mode of two pairs of conductors and establishing its mathematical model, and then studying the principle of speed regulation of permanent magnet brushless DC motor. The rotational speed transfer function is derived, according to its rotational speed transfer function and the actual work control requirements of this paper. The speed regulation method of PWM pulse width modulation is determined. Finally, the influence of five PWM pulse width modulation modes on commutation torque ripple is analyzed. Pwm-on modulation mode. (3) firstly, the control strategy of agricultural omnidirectional mobile platform is analyzed, and the speed of driving system is determined by comparing torque control with current control. Current double closed loop control mode. Then the stability of mobile platform steering is analyzed. According to the running speed, it can be divided into two control modes: in-phase control and inverse phase control. Finally, according to the actual work of the mobile platform, it is mainly running at a low speed of 35km / h, and the electronic differential speed principle is analyzed based on the inverse phase control mode. The differential calculation formula is derived by using trigonometric function and proportion method. (4). At first, the speed of permanent magnet brushless DC motor (PMSM) proposed in this paper is studied by using Simulink, a dynamic system simulation tool provided by MATLAB. The current double closed loop control system is simulated. According to the phase current and electromagnetic torque obtained by simulation. The rotational speed waveform proves that the control system can basically fulfill the control requirements. Finally, combined with the Simulink simulation results, the driving motor is tested to detect the no-load line voltage and the line voltage with load. The experimental results show that the controller can respond rapidly and can basically fulfill the control requirements. According to the actual test results of the motor speed when the pedal position sensor has different opening degree, the linear expression of the voltage and speed of each motor is calculated respectively in positive and reverse. It provides a theoretical basis for vehicle control and distribution of acceleration signals on mobile platform.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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