Research On DC Servo Drive System Of Agricultural Robot Intelligent Joint

Agricultural robot could help to mitigate the shortage of agricultural labor force, improve agricultural condition, also with high productivity. Now, the joint and its control system in agricultural robot in our country mostly bought from abroad, which was expensive and unsuitable for agricultural robot's promotion and application.The keystone of this thesis was to research agricultural robot's servo drive system, which used own laboratory developed joint of agricultural robot for the control target. The system used three-Multi-CPU structure, had dsPIC30F4012 and AS5045 for the based chips, and used CAN-Bus to construct distributed control network, so that the system could have better real-time accuracy.In this paper, firstly I constructed the control model, adopted two closed-loop structure with the inner current loop and the outer position loop for the system, which the current loop was based integral separation PI control algorithm, the position loop was based PID control and the parameters were real-time self-modified by fuzzy theory, and analyzed the simulated result with Matlab. Meanwhile I designed a sort of cosine-beeline speed curve optimizing algorithm based on position mode, so that the agricultural robot joint motor could move smoothly.Secondly, the hardware circuit of servo system and corresponding PCB board were designed, the overall framework of the application procedure was constructed, the upper PC software and lower driver software were developed, and the system software source code was programmed.Finally, research on position close loop of agricultural robot joint motor was carried out by experiments successfully. The system had faster response speed and higher precision control. That was of great significance for developing fruit picking robotic arm and its control system with independent intellectual property rights.