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设施环境下的移动作业平台作为棚内施药、采摘等设备的载体,由于其作业环境的限制,对其控制系统的精确性和实时性的要求更高。为提高设施移动作业平台作业效率和精度,提出了基于CAN总线的分布式控制结构的智能移动作业控制系统,该系统分为主控制和功能节点两个部分,主控制器负责采集移动平台位置信息并进行控制决策,各功能节点实现对移动平台的转向、变速以及设备控制。整个系统的通信根据ISO11783标准设计完成。系统通信能力测试结果表明,该移动作业平台的智能控制系统能够满足设施环境作业需求,工作性能稳定可靠。
Mobile platform under the environment of facilities, as a carrier for spraying pesticide and picking equipment in shed, has a higher requirement on the accuracy and real-time performance of its control system because of its operating environment. In order to improve the operation efficiency and accuracy of the mobile workbench, this paper proposes an intelligent mobile work control system based on CAN bus and distributed control structure. The system is divided into two parts: main control and functional node. The main controller is responsible for collecting mobile platform location information And control decisions, the function of nodes to achieve the mobile platform steering, variable speed and device control. The whole system communication is designed according to ISO11783 standard. The test results of system communication ability show that the intelligent control system of the mobile work platform can meet the operation requirements of the facility environment and the working performance is stable and reliable.