Control System Based On Ultrasonic Sensors Wheel Spraying Robot Move

This paper designes a wheeled spraying robot based on ultrasonic sensors for the purpose of avoiding workers contact directly pesticide, lessening the risk of poisoning, dispensing with labour and decreasing intensity of labor.The research project makes a series of researches on mechanical structure, electric Structure, motion control and obstacle control.The paper designes the mechanical structure of tricycle spraying robot which is steered by front-wheel and drived by rear-wheel,according to the demand of mobile robot in orchard. There are two separate motor,Step Motor is used for steering,and DC Brushless Motor is used for driving.According to the experiment of DC Brushless Motor Rotationl Speed cotrol the function between Control voltage and Speed is achieved. Through analysis,there is certain vibration at motor startup and speed regulation. To dispel the phenomenon and improving anti-interfere ability robust controller used as its local controller to stabilize speed control.By means of MATLAB tools, ECCM Performance simulation validate the results robust control can improving robustness for DC Brushless Motor's stabilizing speed control.The paper uses incremental PID algorithm to control step motor for improve system stability. The simulation result through MATLAB indicates that the method has higher precision and smaller overshoot ,compared with common PID controller. the swash of vibration against system is limited to a certain degree.A simple and effective arithmetic suitable to inochard environment is used to fuse the data achieved by the 5 ultrasonic sensors on the based on the characters of robot. ARM7 LPC2148 makes corresponding decision to detect all the stumbling blocks in the environment and then achieve the function of avoiding obstacle according to result of combination. Consequently,the robot realizes it's obstacle-avoiding motion.A "S-figure curve" algorithm is put forward based on the Ultrasonic ranging data and the Characteristic of plants inorchard,which can control the wheeld robot's turn effectively, maintain smooth performance while accomplishing robot's obstacle-avoiding.Referring to control algorithm of DC Brushless Motor, step motor and ultrasonic obstacle-avoiding, the hardware and software of the system are studied, Experiments carried out that all datas are in accord with design requirements, this system is stable and reliable and realizes perfect cotrolling effect.