Research On Control Method Of High-speed Multi-blade Transplanter Based On Zyn

During the growth of plants,they are easily affected by plant viruses,which will accumulate in the turnover of each generation and eventually lead to the reduction of plant production,and plant stem and leaf detoxification treatment measures,which require a lot of labor.In order to improve plant production efficiency and reduce production cost,this paper combines stepper motor control technology to propose a set of detoxification treatment cutting scheme,according to which a high-precision,high-efficiency and high-cooperation plant automatic detoxification transplanting control system is designed.In this paper,the transplanting control system consists of multiple groups of transplanting arms,in each group of transplanting arms there are two axes,x and y,and each axis consists of a screw slide dragged by a stepper motor.In order to speed up the transplanting efficiency,a synchronization control algorithm is built between multiple transplanting arms so that multiple transplanting arms can be transplanted simultaneously.In each group of transplanting arms,an improved interpolation start algorithm is used to achieve cooperative control of both x and y axes to reduce the time consumed by each group of transplanting.In the stepper motor control,to avoid the phenomena of step loss,overshoot and low frequency oscillation,the adaptive fuzzy PID controller is designed and applied to the position and speed loops of the motor to form a triple closed-loop control with the traditional PI current loop.The adaptive fuzzy controller uses the ability of neural network to learn autonomously so that the fuzzy controller can adjust the PID parameters online and improve the performance of the stepper motor.The adaptive fuzzy control simulation is also built in MATLAB/Simulink software to compare and analyze with the traditional PID control simulation to verify the performance of the adaptive fuzzy control proposed in this paper.In order to solve the problems of high failure rate,poor stability and not easy to expand in the case of high speed output pulse of MCU and other traditional controllers in controlling the motor,this paper uses Zynq as the core controller and designs digital circuits at the PL side to realize coordinate transformation,pulse modulation,fuzzy control,synchronous control,encoder interface and camera interface to shorten the calculation time of control algorithm and the feedback signal,image signal acquisition time.The interpolation function module and the interaction with the target detection algorithm of the upper computer are implemented in the PS side,and the internal AXI communication protocol connects the PS and PL to take advantage of each other and improve the operation speed of the control system.Finally,the experimental platform was built to test the position and speed of the transplanting control system based on the adaptive fuzzy controller.The experiments showed that the control system designed in this paper has good dynamic performance and anti-interference ability,and verified the stability of using Zynq to control the motor for transplanting under high-speed operation.