Research On Design And Control System Of Electric Bowl Type Seedling Picking Device

In recent years,people’s demand for vegetables has increased,and Xinjiang has a huge vegetable planting area,but the existing seedling raising and transplanting technology is mainly completed manually,which greatly limits the development of agriculture in Xinjiang.The research and development of domestic transplanter is still in the embryonic stage,and it is difficult to apply to Xinjiang.The research and development of seedling taking device is an important means to solve the current transplanting dilemma.An excellent seedling taking device can greatly alleviate the current situation of insufficient labor in Xinjiang.In this regard,combined with the existing relevant research basis and specific agronomic requirements of the research group,this thesis designs a seedling taking device and studies its control system.The research contents mainly include:(1)The structure design and key size parameter optimization of seedling picking manipulator.Firstly,the seedling tray specification and seedling shape parameters are analyzed.According to the requirements of seedling picking operation,the seedling picking manipulator is designed,its working principle is analyzed,and the objective function is defined.The constraint conditions for the optimization of the size parameters of the manipulator are obtained from the installation size of the seedling taking device and the seedling taking operation parameters.The parameters are solved by ga-np algorithm,and the kinematics simulation is carried out.The simulation results show that all the indexes of the mechanism meet the requirements of transplanting operation.(2)Design and Simulation of adaptive controller.The adaptive control algorithm is used to control the clamping action of the seedling picking manipulator.The state space control model of the stepping motor on the seedling picking device is constructed,and the adaptive controller is established.The error is corrected by neural network to approach the control object;The adaptive law is proved and deduced by Lyapunov function;Taking the approximation error of RBF as the main evaluation index,the particle swarm optimization algorithm is used to determine the best combination of adaptive control parameters;The simulation model is established to simulate the control system.Taking the sinusoidal function as the excitation,the control effects of PID and adaptive RBF neural network controller are compared.The simulation results show that the adaptive controller has higher control accuracy.(3)Control system design of seedling picking device.Firstly,the control requirements of the seedling picking device are analyzed.The control scheme of using STM32 as the lower computer to realize servo control and PC as the upper computer to realize data processing is determined.Completed the selection of the key components of the seedling taking control system,including STM32,motor,motor driver and lead screw,and designed the wiring diagram of STM32 on this basis.Finally,after completing the hardware design of the seedling picking control system,the software is designed,mainly including: the design of the main program,the software design of the upper computer of the seedling taking control system completed by QT,including software and data communication;Completing the software design of the lower computer of the seedling taking control system,including the function of motor real-time data acquisition,motor drive and communication with the upper computer.The test platform of the seedling taking device is built and the seedling taking test is carried out.The results show that when the seedling taking frequency is 50 plants /min,the seedling taking device can give consideration to the seedling taking efficiency and seedling taking success rate.The overall performance meets the expectation and meets the actual operation requirements.