| 设施环境下智能移动作业平台控制系统研制 |
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| 引用本文： | 陶建平,易中懿,吕晓兰,张美娜,柏宗春,李辉.设施环境下智能移动作业平台控制系统研制[J].农业工程,2017,7(2):35-38. |
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| 作者姓名： | 陶建平 易中懿 吕晓兰 张美娜 柏宗春 李辉 |
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| 作者单位： | 江苏省农业科学院农业设施与装备研究所，南京210014 |
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| 基金项目： | 江苏省农业科技自主创新资金项目(项目编号:CX(14)2108) |
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| 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。
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| 关 键 词： | 设施环境 移动作业 智能控制 CAN总线 |
Research and Development of Intelligent Mobile Operation Platform Control System in Facility Cultivation Environment |
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| Tao Jianping,Yi Zhongyi,Lv Xiaolan,Zhang Mein,Bai Zongchun and Li Hui.Research and Development of Intelligent Mobile Operation Platform Control System in Facility Cultivation Environment[J].Agricultural Engineering,2017,7(2):35-38. |
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| Authors: | Tao Jianping Yi Zhongyi Lv Xiaolan Zhang Mein Bai Zongchun and Li Hui |
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| Abstract: | 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. |
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