基于小型PLC的智能棉花采摘控制系统设计Design of intelligent cotton picking control system based on small PLC
刘巧,王磊
摘要(Abstract)：
传统基于嵌入式控制器的棉花采摘控制系统对棉花采摘过程中机械手运动规划存在较高的震动以及漂移现象,存在采摘控制性能差以及耗费时间高的弊端。设计基于小型PLC的智能棉花采摘控制系统,其由PLC模块、超声波测距仪模块和电机驱动模块构成,实现棉花采摘的夹取、采摘和运送,通过PLC模块对棉花采摘进行夹取、运输及预警;超声波测距仪模块测量棉花采摘地点的路程,通过PLC控制器实现采摘机的移动测量控制;采用MC33886作为核心部件的电机驱动模块,驱动PLC控制器和采摘机机械手的运行。系统软件给出棉花采摘流程,通过棉花采摘机中机械手运动规划算法,确保机械手采摘棉花运动轨道圆滑,避免震动和游走。实验结果表明,所设计系统的采摘控制性能佳、效率高。
关键词(KeyWords)： PLC;棉花采摘;超声波测距仪;控制器;机械手;控制系统
基金项目(Foundation): 国家自然科学基金项目(51605314)~~
作者(Author): 刘巧,王磊
DOI: 10.16652/j.issn.1004-373x.2018.14.009
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