果蔬采摘机器人行走运动控制系统设计——基于磁导引

Design of Running Motion Control System of Fruit-picking Robot——Based on Magnetic Guidance

为实现果蔬采摘机器人作业时自主行走,研究采用磁导引技术和PID算法等实现对预定路径的跟踪。以磁导引传感器作为导航传感器,在果蔬采摘机器人平台上搭建转向控制机构,依据磁导引传感器工作特性,提出PID算法作为导引算法。根据导引传感器得到机器人当前位置相对于导引磁条的距离偏差,作为PID控制器的输入,将机器人前轮期望转角和车体期望速度作为输出,在Mat Lab中对算法进行圆曲线跟踪仿真。仿真结果表明:机器人可快速跟踪到预定路线,跟踪误差在±30 mm以内,直线段稳定状态误差在±5 mm以内。

In order to achieve automatic driving when the Fruit-picking robot for operation, magnetic guidance technolo- gy and PID algorithm were used to achieve the predefined path tracking. Take Magnetic sensor as navigation sensor, build intelligent steering control mechanism for the Fruit-picking robot platform, and take PID control algorithm as guidance algorithm based on the magnetic guidance sensor operating characteristics. The robot current position was got depend on the guidance sensor, and compared with the predetermined path to get the current lateral deviation as the input of the PID controller, and the robot front wheel expect comer and desired speed as the outputs. This algorithm was simu- lated in MATLAB, simulation results show that the path tracking algorithm can track the predetermined path rapidly , the tracking error within ± 30 mm, steady state error is ±5 mm in straight line. In view of the simulation experiments, to carry out the test research on specific path of circular curve tracking shows that ： when the robot walk in speed of O. 1 ± O. 5 m/s, can quickly track to a predetermined route in any initial statemaximum , tracking error is ± 70 mm and steady state error is±25 mm in straight line . Error is relatively small and in the range of forecast error, the system achieve the expected design purpose.