农业机器人开放式结构控制系统的研究

在农业机器人控制系统的设计上采用开放式结构的思想。分析了开放式结构控制系统对硬件和软件的要求，采用PMAC(Programmable Multi-Axes Controller)运动控制卡以PC+DSP(Personal Computer & Digital Signal Processing)模式构建硬件平台；以RTLinux(Real Time Linux)为实时操作系统建立相应的软件体系结构，编写了PMAC基于RTLinux的驱动程序，并开发了相应的控制软件，设计出了具有开放式结构的农业机器人控制系统。以二自由度运动平台为控制对象进行了控制性能和实时性测试，当控制参数调整为：比例增益为19000，积分增益为1000，微分增益为1000，速度前馈为4700，加速度前馈为20，具有良好的瞬态特征、位置控制和速度控制性能；在RTLinux和Linux下运行相同任务消耗的时间分别为28.03s和30.28s。结果表明，该系统具有良好的控制性能和实时性。

Open architecture control system of agricultural robot

The idea of open architecture was introduced into the research of agricultural robot controller, and the hardware and software requirements of the open architecture controller were analyzed. The PC+DSP (Personal Computer & Digital Signal Processing) mode of the open architecture was adopted to construct the hardware of the open architecture control system with PC and PMAC (Programmable Multi-Axes Controller). Under the RTLinux (Real Time Linux), a kind of real-time operation system, the PMAC device driver and control software were developed to establish the open architecture control system of agricultural robot. The xy platform with two freedoms was controlled by this control system. With these control parameters (proportional gain is 19000, integral gain is 1000, derivative gain is 1000, velocity feedforward gain is 4700, acceleration feedforward gain is 20) the xy platform had ideal transient performance, small position and velocity error. It took 28.03 s and 30.28 s to complete the same task under RTLinux and Linux respectively. The test results proved that the open architecture control system of agricultural robot was real time and had good control performance.