移栽机械臂的设计及仿真研究

为适应新疆复杂多变的大田栽植环境,设计一种农业领域使用的自动移栽机机械臂,以期搭载末端执行器实现钵苗的精确、无损取投,由于一般的控制方法很难保证自动移栽机机械臂作业的精度,通过对比模糊PID自适应控制与经典PID控制优缺点,使两种方法相结合同时进行算法优化,设计一种模糊PID自适应复合控制器,运用ADAMS和MATLAB/Simulink进行联合仿真分析,同时进行干扰测试,仿真试验表明:与模糊PID自适应控制相比,该复合控制方法的超调量降低14.9%,响应时间降低31%,干扰信号作用下,跳动幅度降低50%,恢复到给定值的时间降低约0.2s。

Design and simulation of transplanting mechanical arm

In order to adapt to Xinjiang’s complex and variable field planting environment, an automatic transplanter robot arm used in the agricultural field is designed to carry an end effectors to achieve accurate and non-destructive investment of pot seedlings. Due to the general control methods, it is difficult to ensure automatic transplant the accuracy of the robotic arm operation. By comparing the advantages and disadvantages of fuzzy-PID adaptive control and classical PID control, the algorithm optimization is carried out by combining the two, and a fuzzy-PID adaptive compound controller is designed. Combined with ADAMS and MATLAB/Simulink, the simulation test shows that the overshoot of the composite control method is reduced by 14.9% compared with the fuzzy-PID adaptive control, responsive time is reduced by 31%, under the function of disturbance signal, beating amplitude is reduced by 50%, and the time of restoring to the given value is reduced by about 0.2 s.