摘要
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。
In facilities environment,mobile platform as a carrier in equipment such as spraying and picking,due to the restrictions on working environment,real-time and accuracy of its control system have higher requirements. In order to improve efficiency and accuracy of operation,distributed control system based on CAN bus was presented. The system was divided into two parts. The master controller was in charge of collecting position information and control decision. Each function node realized steering,speed change and equipment control of mobile platform. Communication of whole system was designed based on ISO11783 standard. Through system communication ability test,results showed that intelligent control system of mobile operating platform could meet demand of facilities operation,and its performance was more stable and reliable.
作者
陶建平
易中懿
吕晓兰
张美娜
柏宗春
李辉
Tao Jianping Yi Zhongyi Lv Xiaolan Zhang Meina Bai Zongchun Li Hui(Agricultural Facilities and Equipment Research Institute, Jiangsu Academy Agricultural Sciences, Nanjing 210014, China)
出处
《农业工程》
2017年第2期35-38,共4页
AGRICULTURAL ENGINEERING
基金
江苏省农业科技自主创新资金项目(项目编号:CX(14)2108)
关键词
设施环境
移动作业
智能控制
CAN总线
Facilities environment
Mobile operation
Intelligent control
CAN bus
