Research On Servo Control System Of Harvesting Manipulator 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 andunsuitable 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.At first, The main control solution of manipulator and structure of single joint were introduced.Then the hardware circuits of control system was designed such as DSC system, CAN communication interface, AS5045-sensor circuit and so on. And PWM speed control theory and its application in this thesis were introduced in detail.After that, control theory and control algorithms were studied and digital PID controller was designed, double-loop control includes position loop and current loop of joint motor was realized in the next. The system current loop was based on PI control algorithm of integral separation and position loop was based on PID control algorithm of integral separation; At last,software was set up.Finally, experimental platform was set up. Single joint debugging and multi-joint debugging experiments were carried out. The experimental results showed that the joint control could meet the requirements of high precision and real-time control.