摘要
针对采摘机器人在复杂果园条件下,行走稳定性差的特点,着眼于研究平滑的油门运动并维持特定的驱动速度,依据油门开度和驱动轮速度之间的特定实验曲线,设计了一个模糊油门行走控制器。该控制器通过安装在驱动轮上的速度传感器反馈获得驱动轮速度并根据特定关系将其转换成油门开度,由此简化了驱动结构,使采摘机器人驱动速度仅仅依靠模糊油门来调节。最终,通过实验验证了该控制器完全能够适应多变的果园条件,增强了采摘机器人驱动行走的可靠性和稳定性。
This paper focuses on the throttle movement of picking robot and maintaining its certain driving speed aiming at its poor steering stability under some complex conditions in an orchard, and designs a fuzzy throttle walking controller according to the specific experimental curve between the throttle opening and the speed of driving speed. The speed of driving wheel obtains from speed sensor amounted on driving wheel, and transfers to throttle opening in terms of specific relations. Therefore, the configuration of driving is simplified, driving speed can only be regulated using fuzzy throttle o- pening. Finally, the picking robot＇ s walking experiment show that the fuzzy controller can be suitable for changing or- chard environments, and improve the walking stability and reliability of picking robot.
出处
《农机化研究》
北大核心
2012年第11期106-110,共5页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(60975007)
关键词
采摘机器人
行走控制器
模糊化
油门开度
picking mobile robot
walking controller
fuzziness
throttle opening rate
