摘要
首先从感知、网络和应用等3层网络层,介绍了采摘机械手的总体框架,设计了采摘机械手的主从机系统,接着介绍了TCP/IP网络模型,最后利用TrueTime仿真工具进行了仿真试验。仿真结果表明:当TCP/IP的网络延时在2s时,采摘机械手远程控制系统的输出和输入比较吻合,可以实现输出信号的跟踪输入,信号的扰动对系统的实时控制影响较小,可以忽略。试验结果表明:该系统具有很好的准确性和可靠性。
Firstly, it introduces the general framework of picking manipulator from three layers of network layers, such as perception, network and application. It designs the master-slave system of picking manipulator, then introduces the TCP/IP network model.Finally carries out simulation experiments by using TrueTime simulation tool. The simulation results show that the output and input of the remote control system of picking manipulator are in good agreement when the network delay of TCP/IP is 2 seconds. It can realize the tracking input of the output signal. The disturbance of the signal has little influence on the real-time control of the system be neglected. At the same time, it shows that the system has good accuracy and reliability.
作者
王任挥
Wang Renhui(Inner Mongolia Technical College of Mechanics&Electrics,Hohhot 010070,China)
出处
《农机化研究》
北大核心
2020年第9期217-221,共5页
Journal of Agricultural Mechanization Research
基金
内蒙古自治区教育科学研究“十三五”规划课题(NZJGH2018288).
