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针对温室喷药移动机器人,为解决作物种植密集,地面障碍与空间障碍并存等非结构化环境因素对其路径跟踪运动控制精度的影响,根据移动机器人运动学特性并充分考虑温室环境因素,提出一种滑模控制方法保证系统对外部干扰具有较强的鲁棒性。与此同时引入新型加权增益趋近律解决滑模控制固有的抖振问题,在积分项中引入负的加权值,可有效避免当系统状态不在滑模面时的切换增益的增大,使得控制器输出量平滑,进而使得温室环境中喷药移动机器人的实际运动轨迹跟随理想作业路线的过程中不会产生较大的波动,因此可以避免在作业区域产生较严重的重喷和漏喷现象。实验结果表明了所设计积分加权增益趋近律滑模控制方法的有效性和可行性,其研究成果为温室作物实施精准喷药,提高我国农业自动化水平奠定理论基础。
In order to solve the influence of unstructured environmental factors such as crop planting density, ground obstacle and space obstacle obstacle on the accuracy of path tracking motion control, according to the kinematic characteristics of mobile robot and taking full account of greenhouse environmental factors, The sliding mode control method ensures that the system is robust to external disturbances. At the same time, the new weighted gain approach law is introduced to solve the inherent chattering problem of sliding mode control. By introducing a negative weighted value into the integral term, the switching gain can be effectively avoided when the system state is not on the sliding mode, The output of the device is smooth, so that the actual moving trajectory of the spraying mobile robot in the greenhouse environment will not cause large fluctuations in the process of following the ideal operation route, and thus it is possible to avoid serious re-injection and leakage of spray in the operation area. The experimental results show the effectiveness and feasibility of the approach of approaching the law sliding mode control of the integrated weighted gain. The research results lay a theoretical foundation for greenhouse crops to carry out precise spraying and improve the level of agricultural automation in our country.