遥控自动立木整枝机运动控制系统

正确的控制逻辑是自动立木整枝机运动控制系统的关键技术.该文根据作业要求，研制了基于复杂可编程逻辑器件的自动立木整枝机运动控制系统.该系统采用自制的新型电动机位置动态检测装置，通过复杂数字逻辑运算及相应的闭环控制驱动电路，实现对人工林自动立木整枝机控制信号的分组、实时控制.该运动控制系统设计合理、控制逻辑准确，已成功应用于BSR Z23 001A人工林自动立木整枝机，工作可靠，使用效果良好. 

Motion control system of remote control pruning robot for standing trees

There has been an increasing application of pruning robot for planted forests due to the growing concern on the efficiency and safety issues. Accurate motion control is important in improving the pruning robot reliability and performance. In this paper, a motion logic control system based on the complex programmable logic device (CPLD) for remote control pruning robot was presented. A self developed precision position sensor based on the complex working demands was introduced. The digital logic processing circuit and a feedback control method for real time control were proposed. Simulation results indicate that this motion control system is very stable and reliable. This work brings forth a new technique in the field of accurate logical motion control for pruning robot. The whole system has been successfully employed in the BSR Z23 001A remote control pruning robot.