Design Of Driving Wheel And Controller For Greenhouse Flexible Chassis

Under the promotion of agricultural farm implements subsidy policy,domestic field operation mechanize level is continuously improved,universal degree of mechanization is continuously improved as well.During the history developing process of field agricultural mechanization speeded progress,problems of greenhouse operation mechanization have become more obvious and urgent.As a new exploration of greenhouse operation machinery, this thesis takes greenhouse operation machine chassis as research object, explores a four-wheel independent driving and flexible chassis system.The system combines driving line and steering line of existing chassis , simplifies the structure of the chassis, but demands higher to control system .according to of paranoid steering shaft driving wheel of flexible chassis ,realize control of driving and steering to wheels, technical scheme of the thesis is setting balance position for each driving wheel,through the balance position tracing system, realize rigidization of flexible chassis,completes automatic adjustments to affections of nonlinear factors on the road.(1) this thesis analyses and summarizes the characteristics of existing greenhouse operation machinery, presents design ideas flexible chassis , and determines the contents and procedures of design.(2) presents the overall composition of the flexible chassis and control system , and concretely designs composition of the bias shaft driving wheel and control system.(3) completes the design of flexible chassis mechanical structure.designs balance position tracing of biases shaft driving wheel and hardware structure of reverse shaft locking system.(4)designs software and hardware system to driving wheel control system. based on STC89C52 series,designs hardware system of brushless DC motor controller, using C language compile software programs which support hardware circuit. makes hardware circuit board, through related software, simulates serial communication with the central controller, integrated debug software and hardware system, verify the feasibility of the design.through debugging, hub motor runs normally,which proves the feasibility of design, achieves the intended purpose, lays foundation for flexible chassis system research.