农田信息采集机器人推进电机系统的混沌控制

Permanent Magnet Propulsion Motor System for Farmland information Collection Robot

针对农田信息采集机器人采用永磁电机系统推进,直接影响农田信息采集机器人稳定性、可靠性和安全性的混沌现象,对其进行相轨迹图、耗散性和Lyapunov指数等复杂动力学分析;为控制处于混沌态的系统达到稳定周期态,应用PI滑模变结构控制理论,设计了控制器,并通过MATLAB数值模拟验证其有效性。结果表明:该控制方法具有较好的动态性能和稳态精度,为相关农业机器人的运行与控制提供了依据。

This article in view of chaos phenomenon in permanent magnet propulsion motor system of the underwater robot which influent immediately Farmland information collection robot's stability,the reliability and the secure,including phase diagram,dissipative and Lyapunov exponent and so on.In order to control the system to periodic state,the controller was designed based on PI sliding mode control theory and simulation results show that it is effective.Therefore,it has good transition and steady state accuracy,all of these provide a theory foundation.