【作者】 林海波；

【导师】 仪垂杰；

【作者基本信息】 青岛理工大学 ， 机械设计及理论， 2016， 博士

【摘要】 小麦精播机器人是推广小麦精播技术、提高小麦产量的关键设备,是一种典型的非完整控制系统。关于非完整系统的控制问题在理论上已有一些成熟的算法,但是其中大多数工作局限于系统精确模型下的运动规划和控制算法的理论探讨与数值仿真。当系统模型中存在不确定参数或者外部扰动项时,许多算法就不再适用。为了推动轮式移动机器人的运动控制理论在实际中的应用,研究鲁棒控制、智能控制方法在轮式移动机器人中的应用,本文以小麦精播机器人控制系统为研究对象,对小麦精播机器人的运动控制理论进行了研究。本文主要研究内容如下:(1)根据课题要求,对小麦精播机器人的总体结构进行了设计,并以非完整系统理论为基础,建立了小麦精播机器人的运动学模型和动力学模型。(2)在前期所建立的模型基础上,研究了小麦精播机器人的轨迹跟踪问题。基于Backstepping的设计方法,建立了小麦精播机器人运动学模型的轨迹跟踪控制器,使闭环系统的全局一致渐近稳定。基于滑模控制思想,设计了基于小麦精播机器人动力学模型的鲁棒轨迹跟踪控制器,通过控制器增益参数的自适应更新,较好的抑制了不确定参数及外部扰动对系统的影响,使闭环系统达到稳定。(3)建立了小麦精播机器人控制系统方案,开发了小麦精播机器人实验平台和精密排种器实验台。最后以速度为主要参数,进行了整机实验,从实验数据可以得出小麦精播机器人控制系统在排种过程中工作平稳,排种各项指标满足小麦精播的农艺要求。本文的研究成果对小麦精播机器人的开发,以及小麦精密播种技术的推广应用起到一定的推进作用,具有重要的理论意义与实用价值。更多还原

【Abstract】 The wheat precision seeding robot is a typical nonholonomic control system, which is the key equipment to spread the wheat precision seeding technique and increase wheat production. There are some mature algorithms in theory about the control problem on nonholonomic system. But most of the works are limited in the motion planning on the accurate model and simulation of control algorithm. Many algorithms are no longer suitable, when there are uncertain parameters and external disturbances. So, in order to promote the application of the mobile robot motion control theory and the application of robust control and intelligent control theory, the motion control theory in the wheat precision seeding robot is researched in this paper. The main research contents go as follows.(1) According to the requirements of the project, the overall structure of the wheat precision seeding robot is designed. And a kinematics model and dynamics model of wheat precision seeding robot is setted up based on the nonholonomic system theory.(2) The trajectory tracking problem is study on the wheat precision seeding robot based on the kinematics model and dynamics model. Using a backstepping method, a discontinuous feedback control law is designed based on the kinematics model, and it is proven that the overall closed-loop system uniformly asymptotically stable. Using the sliding mode control method, a robust trajectory tracking controller of the wheat precision seeding robot is designed based on its dynamics model. And the problems of parameter uncertainty and external disturbance are studied. By the adaptive controller gain parameter update, uncertain parameters and external disturbances on the system are better suppressed, and it makes the closed-loop system stable.(3) The control system of the wheat precision seeding robot is designed. Then a experimental platform for the robot and a experimental platform for the precision seeding meter are developed. As last, the wheat precision seeding robot is tested with a varying speed parameter. From the test data, it verifies the seeding performance of the wheat precision seeding robot in the actual work environment.This article research production can effectually promote the realization of wheat precision seeding technique, and the research also have the important theory significance and practicality value.更多还原