Research On Drive Control Of Intelligent Mower

As substitutes for traditional mowers,intelligent mowers are becoming increasingly popular in western families for avoiding the complex and boring process of artificial mowing.In order to further improve the mowing effect of intelligent mowers and the tracking performance of planned motion directions,this paper will study the drive control of the intelligent mower around system components including driving wheel motor speed control,accurate detection of heading angle and design of two-wheel differential drive controller.First of all,according to the characteristics of intelligent mowers that the load disturbance of driving wheel motors is large caused by complicated terrain and that the speed changes frequently because of the variable motion mode,a speed controller based on the Model Free Adaptive Control(MFAC)strategy with excellent dynamic and steady performance is proposed,with the pseudo gradient parameter estimation method in it optimized to accelerate its dynamic response.Also,the dynamic model of the driving wheel of moving intelligent mowers is analyzed,on the basis of which an obstacle detection method based on the motor current and speed observation is proposed in combination with the motor control system.Since no external sensors need adding in this method,it has good prospects for application with low cost and high reliability.Secondly,the kinematic model of intelligent mowers is established with the influence of the driving wheel speed on the motion following error analyzed.In view of accumulated error caused by zero drift when the gyroscope detects the heading angle,a complementary filter zero drift correction way is proposed with measurement data of the electronic compass joint.And then the accurate angle is calculated according to Quaternion Angle Solution theory and Kalman Fusion Filter theory,building the foundation for intelligent mower two-wheel differential control.Thirdly,in order to improve the control performance of the two-wheel differential controller under the condition of asymmetric load disturbance of the two driving wheels and variable movement direction,the PD parameters in a traditional PD controller are adaptively adjusted by using Fuzzy Control,compensating the non-linear motion characteristics of intelligent mowers;appropriate driving wheel speed adjustment commands can be obtained through Fuzzy PD controller,thus tracking planned motion directions precisely through high-performance motor control.Finally,the drive control experiment platform of intelligent mowers is built based on the above system components,and the theoretical methods proposed in this paper are verified by experiments.