基于激光传感器的农业机械控制器设计
Design of agricultural machinery controller based on laser sensor
吴德刚 1赵利平 1陈乾辉1
作者信息
摘要
针对当前农业机械控制器对农业机械器件控制能力较差,导致农业机械设备存在换挡异常与平衡性较差的问题,提出基于激光传感器的农业机械控制器设计研究.先选用拿度DPE-10-500激光测距传感器为控制器的数据测量设备,对中央控制模块展开优化.然后设定传感器测量距离与角度,使用圆拟合算法对测量数据进行修正.最后根据激光测量结果,以PID控制器为基础,构建自适应神经模糊控制器,对农业机械设备进行控制测试.测试结果表明:此控制器可按照预设要求完成机械设备的换挡,对机械臂为位置控制误差最大仅为0.58 cm,智能平衡开启状态时,其偏离最大角度仅为1.6°,偏离最大幅值仅为31cm,极大提升了设备的调试位置精度及平衡性,进一步提升农业机械设备的应用效果.
Abstract
Aiming at the problem that the current agricultural machinery controller has poor control ability on agri-cultural machinery components,which leads to the abnormal shift and poor balance of agricultural machinery equip-ment,the design and research of agricultural machinery controller based on laser sensor is proposed.First,the central control module is optimized by using Nadu DPE-10-500 laser ranging sensor as the data measurement equipment of the controller.Then set the measuring distance and angle of the sensor,and use the circle fitting method to correct the measured data.Finally,according to the laser measurement results,based on the PID controller,an adaptive neural fuzzy controller is constructed to test the control of agricultural machinery equipment.The test results show that this controller can complete the shift of mechanical equipment according to the preset requirements.The maximum position control error for the mechanical arm is only 0.58 cm.When the intelligent balance is open,the maximum deviation angle is only 1.6°,and the maximum deviation amplitude is only 31 cm.This greatly improves the equipment's debug-ging position accuracy and balance,and further improves the application effect of agricultural machinery equipment.
关键词
激光传感器/农业机械控制器/PID控制器/智能控制/自适应神经模糊控制/嵌入式系统Key words
laser sensor/agricultural machinery controller/PID controller/intelligent control/adaptive neuro fuzzy control/embedded system引用本文复制引用
基金项目
河南省高等学校青年骨干教师培养计划项目(2018GGJS190)
商丘工学院2022科研项目(2022KYXM02)
出版年
2024
NETL
NSTL
万方数据