低成本农业SCARA操纵器的基准测试控制器
Vítor Tinoco1,2, Manuel F Silva1,3, Filipe Neves Dos Santos1
1INESC TEC-Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal.
Sensors (Basel, Switzerland)
|May 14, 2025
概括
这项研究对低成本农业机器人的三个控制器进行了比较. 滑动模式控制器 (SMC) 提供了最快的响应,而比例整合前 (PIFF) 控制器为农业自动化提供了更顺的运动.
科学领域:
- 农业工程 农业工程
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
背景情况:
- 全球需求的增加需要提高农业生产率,减少资源投入.
- 在收获等关键时期的劳动力短缺突出了农业自动化需求.
- 商业机器人操纵器的高成本限制了采用,推动了对低成本替代品的研究.
研究的目的:
- 开发和评估农业中低成本SCARA操纵器的控制策略.
- 解决低成本操纵器的挑战,包括不准确性,有限的传感器反和动态不确定性.
- 为了比较滑动模式控制 (SMC),强化学习 (RL) 和新型比例整体前 (PIFF) 控制器的性能.
主要方法:
- 实施三个不同的控制策略:SMC,RL和PIFF.
- 基于响应时间,运动流性和对动态变化的稳健性进行对比控制器性能.
- 专注于为农业应用量身定制的低成本SCARA操纵器.
主要成果:
- SMC实现了最快的响应时间,但表现出关节运动动.
- 在达到设定点时,RL控制器表现出突然断裂和超越问题.
- PIFF控制器提供了最顺的参考跟踪,但对系统动态变化的敏感性增加.
结论:
- 每个控制器都为低成本的农业操纵器提供了性能上的权衡.
- 当速度至关重要时,SMC是合适的,只要可以管理动.
- PIFF提供了更顺的操作,非常适合对于动运动敏感的应用,但需要仔细调整稳定性.
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