文献类型：期刊文献

英文题名：Study on design of apple harvesting robots and its control algorithm based on disturbance observer

作者：Li, Zhongqin[1]

第一作者：李中琴

通讯作者：Li, Zhongqin

机构：[1] School of Mechanical and Electrical Engineering, Xinxiang University, Xin Xiang, 453003, China

第一机构：新乡学院机电工程学院

年份：2017

卷号：32

期号：3

起止页码：575-584

外文期刊名：Revista de la Facultad de Ingenieria

收录：EI(收录号：20173003966385)

语种：英文

外文关键词：Fruits - Harvesting - Machine design - Robots - Sliding mode control - Structural design

摘要：In order to improve the efficiency of apple picking, an apple harvesting robots was designed, which can adapt the changing of the open the apple ground and has the characteristics of wide scope of work of picking robot, also pointing on the external interference existed in apple harvesting robots and the chattering problem existed in the sliding mode control, this paper proposes a sliding mode variable structure control algorithm based on disturbance observer, this algorithms use the disturbance observer to observe the external disturbances, so as to make up for the external interference influence on the control performance of the system, at the same time, the switch gain of the sliding model control is reduced, and the chattering problem existed in the sliding mode control is reduced, so the control performance of the system are improved. The simulation results show that compared with the traditional sliding mode control, the proposed sliding mode controller based on disturbance observer has higher tracking precision, and can effectively reduce the gain of external disturbance, and the chattering phenomenon existed in the sliding mode control is reduced obviously. ? 2017 Universidad Central de Venezuela.