Study And Application On The Motion Control Theory In Wheat Seeding Robot

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.