Research On The Motion Control System Of Cow Gait Simulator

Lameness in dairy cow has been reported as a critical economic factor and a vital animal-welfare issue of the dairy industry around the world.Economically,lameness is reported as the second most cost problem for dairy herds following mastitis.Which also has aroused great concern and interest of scholars.The symptoms of lameness of cows are not easily recognized at the beginning.Therefore,it is necessary to design a set of cow gait simulation device,which can simulate the different gait of dairy cattle under different health conditions by controlling the motion parameters of the device.The key of the simulation device is the simulation of the motion parameters,so it is very important to design a motion control system with high stability and reliability.Aiming at the main parameters that affect the lameness of the cow,the simulation device of the cow gait was designed,which is composed by the mechanical and electrical components.This paper mainly studies the electrical control components,treats the motion controller as the control core,realizes the multi-axis linkage control of the multiple motors and the precise control of the host computer and the touch screen,and completes the control requirements for the simulation of the cow's motion parameters.According to the design scheme of the motion control system,the electrical components are selected reasonably.Complete the circuit design of the motion control system and the design and installation of the electrical control cabinet.After the analysis and research of the motion control process,the control program of the motion controller has been completed.The touch screen is used as the human-computer interaction interface of the motion control system to realize the parameter setting of the motion control system and the centralized display of the signal.Through the touch screen can be real-time observation and record the current parameters of the operating data.The stability of the motion control system was studied by using Walkway which produced by Tekscan Company in the United States and sensor.The experimental results show that the error rate of the device motion speed is from-2.71%to 1.91%;the error rate of the device moving distance is from-1.71%and 2.64%;the error rate of the rotation angle of hoof is from 0%?1.90%(front-back)and-2.30%?0%(left-right);the control of the downward pressure and stance time,electric cylinder thrust value reaches a preset value about ls,and run stably,the average value of the stance time is 1.132s,relatively close to the single limb stance time;the control of the whole movement parameter of the device,there are little difference between the actual measurements and the setting values.The motion control system is more accurate in the movement parameter control of the cow gait simulator,the whole movement of the device is coordinated and the operation is relatively stable,so the control requirements of the cow movement parameters can be simulated and satisfied.