梁喜凤,周涛,王斌锐.果实收获机器人关节滑模控制系统设计与试验[J].农业机械学报,2016,47(3):1-7.
Liang Xifeng,Zhou Tao,Wang Binrui.Design and Experiment on Joint Sliding Mode Control System of Fruit Harvesting Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):1-7.
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果实收获机器人关节滑模控制系统设计与试验   [下载全文]
Design and Experiment on Joint Sliding Mode Control System of Fruit Harvesting Robot   [Download Pdf][in English]
投稿时间:2015-09-02  
DOI:10.6041/j.issn.1000-1298.2016.03.001
中文关键词:  关节  滑模控制  遗传算法
基金项目:国家自然科学基金项目(51505454、51575503)、浙江省自然科学基金项目(LQ13E050003、LY14F030021)和国家高技术研究发展计划(863计划)项目(2012AA10A504)
作者单位
梁喜凤 中国计量学院 
周涛 中国计量学院 
王斌锐 中国计量学院 
中文摘要:针对多关节果实收获机器人难以获得精确控制模型以及控制系统的抖振问题,提出基于遗传算法实时动态调整滑模参数的控制策略,设计并制作了基于STM32微控制器和AS5045位置反馈模块及CAN总线通信模块的关节控制系统仿真和试验平台,分别在空载与负载情况下进行了关节电机位置响应试验。结果表明,采用遗传算法动态调整滑模控制器参数能够提高关节控制系统位置跟踪的响应速度,减少外界干扰和负载变化引起的控制系统抖振的幅度与持续时间,具有较强的鲁棒性。由空载和负载试验结果可知,关节6实际试验控制系统的位置跟踪响应时间比理论仿真试验增加了0.5s,负载时控制系统的位置跟踪响应时间比空载时增加了0.3s,但负载对系统精度和超调量并无明显影响,系统具有良好的控制效果。
Liang Xifeng  Zhou Tao  Wang Binrui
China Jiliang University,China Jiliang University and China Jiliang University
Key Words:fruit harvesting robot  joint  slide mode control  genetic algorithm
Abstract:The control system is one of essential constitute parts of the fruit harvesting robots, which affects the work efficiency and quality of the robots. In generally, fruit harvesting robots are nonlinear spatial open chains with multi input and multi output and serious coupling. It is difficult to set up accuracy mathematical model for the joint control system because there are many uncertain factors during working, such as joint friction, assembly errors, etc. Sliding mode control method has more advantages to solve nonlinear problems with strong robustness, anti disturbance, etc. To improve the control performance of the fruit harvesting robot and solve the vibration of the control system, the sliding mode control (SMC) method based on genetic algorithm (GA) optimization was proposed. In this method, the parameters of SMC algorithm were optimized by GA through adjusting the parameters of switching function and exponential approach law in real time. Simulation and experimental platforms of a joint control system were designed and manufactured based on STM32 microcontroller, AS5045 position feedback module and CAN bus communication module. Moreover, experiments on position tracking and joint control system response were conducted in unloading and loading conditions respectively. The results show that the response velocity of position tracking was increased greatly by adopting GA. The vibration amplitude and time of the control system caused by external disturbance and load changes were reduced significantly. The experiment results also showed that the response time during position tracking of joint No.6 in the unloading condition is 0.3s shorter than that in the loading condition. However, the position tracking accuracy and maximum deviation are not affected greatly by adding load. In addition, the controller response time in actual experiments increases 0.5s comparing with that of simulation experiment owing to ignoring some uncertain factors, such as joint friction, assembly errors, inertia force, etc. in the simulation experiment system. But the control system can make the joint to track the expected trajectory with satisfied accuracy and high robustness. The results can provide the foundation for the further research of the robot joints’ control systems.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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