磁导式温室协同作业移动平台控制系统设计与实现

Design and Implementation of Motion Control System for Magnetic Greenhouse Information Monitoring Platform

针对设施生产物料运输的需要,研制了具有自动寻迹和协同作业功能的磁导式移动平台控制系统。利用磁导航传感器作为预设路径的检测元件,并根据磁导航传感器的特点设计了模糊PID调节器改良平台的导航性能。在此基础上,开发基于超声波传感器和红外传感器的测距系统,通过测距模块检测移动平台与从业人员之间的距离,进而实现平台协同作业的功能。试验结果表明:模糊PID控制器在解决轨迹跟踪控制方面的优越性,该系统能够在温室垄间实现预设路径的稳定导航和人机跟随,横向最大偏差不超过2.6cm,平均跟随误差不超过5.4cm,能够满足移动平台在温室内行走的运输作业要求。

In order to meet the need of the logistics transportation in the greenhouse,the control system of the magnetic guided mobile platform is developed.Based on the characteristics of the magnetic navigation sensor,the navigation performance of the improved platform of the fuzzy PID controller is designed.On this basis,the development of distance measurement system based on ultrasonic sensor and infrared sensor,the safe distance between the mobile detection platform and ranging system of employees,so as to realize the function of collaborative work platform.The experimental results show that the fuzzy PID controller to solve the trajectory tracking control of superiority,the system can realize stable navigation and man-machine default path to follow in the greenhouse ridge,the maximum horizontal deviation is less than 2.6 cm,the maximum error is less than 5.4 cm,which can meet the mobile platform running in greenhouse transportation requirements.