无线遥控自动立木整枝机机载控制系统设计

The Control System Design of the Wireless Remote Control Pruning Machine

自动立木整枝机是人工林整枝抚育的重要设备,用于替代人工完成对树木的修剪和整枝工作。本文以自动立木整枝机为控制对象,设计了由复杂可编程逻辑器件和无线数据传输模块构成的无线遥控接收系统,通过接收模块接收控制命令、控制输出脉冲宽度调制信号驱动两路舵机,确保整枝机工作在所需的状态。本设计中所使用的复杂可编程逻辑器件芯片为Altera公司的零功耗芯片EPM240ZM100,电路结构简单,功耗低,经实测,整个控制系统的正常工作电流仅为50mA,可靠遥控距离为45m。

Automatic pruning machine is the important equipment for artificial forest pruning thinning replaced the artificial work to do the tree pruning and training. Taking the automatic pruning machine as the control object, a wireless remote control system, which is composed of the Complex Programmable Logic Device （CPLD） and a wireless data transmission module, is designed. The receiving module receives the control command, then CPLD control outputs pulse width modulation signal to drive the two servos, ensuring that the pruning machine works in the desired state. The CPLD chip used in the design is Ahera Company＇s Zero power chip EPM240ZM100, and the receiving module used in the design is the low-power CZS-7B. The circuit has the advantages of simple structure, low power consumption. And after the actual measurement, it is found that the control system of the normal operating current is only 50mA.