取苗机械手运动控制联合仿真研究及试验

为减少取苗机械手研制过程中投入大量的成本和时间，解决机械手在作业过程中控制精度低、适应性差等问题，采用SolidWorks建立机械手的模型，并导入ADAMS中；采用模糊PID控制算法对机械手夹持角度进行实时动态联合仿真分析，设计模糊PID控制器及模糊规则。利用MATLAB/Simulink和ADAMS建立联合仿真模型，以阶跃信号为激励，模糊PID控制和PID控制仿真结果表明：PID控制的响应时间为1.1 s，模糊PID的响应时间为0.33 s且响应速度更快，说明模糊PID优于经典PID控制，设计的取苗机械手具有良好的动态响应和轨迹跟踪特性，理论上能够满足实际作业要求。取苗试验结果表明：在取苗频率为50、60和70株/min时，采用PID算法和模糊PID算法取苗成功率分别为9609%、93.75%、92.96%和98.43%、95.31%、93.75%，采用模糊PID算法的取苗成功率更高，能够满足实际作业要求。

Co simulation study and experiment on motion control of seedling picking manipulator

In order to reduce the development cost and time, and solve the problems of low control accuracy and poor adaptability of the seedling manipulator in the process of operation, the model of manipulator is established by SolidWorks and imported into ADAMS. The fuzzy PID control algorithm is used to realize real time dynamic joint simulation analysis for the angle of the manipulator, and the fuzzy PID controller and fuzzy rules are designed. The joint simulation model is established by using MATLAB/Simulink and ADAMS. Taking the step signal as the excitation, the simulation results of fuzzy PID control and PID control show that the response time of PID control is 1.1 s, the response time of fuzzy PID is 033 s and the response speed is faster, indicating that fuzzy PID is better than classical PID control. The designed seedling manipulator has good dynamic response and trajectory tracking characteristics; theoretically, it can meet the requirements of practical operation. The results of seedling taking test show that when the seedling taking frequency is 50, 60 and 70 plants/min, the success rates of PID algorithm and fuzzy PID algorithm are 96.09%, 93.75%, 92.96% and 98.43%, 9531%, 93.75%, respectively, the success rate of fuzzy PID algorithm is higher, which can meet the actual operation requirements.