A semi-physical simulation system for the operation trajectory planning and control of forestry harvesting machine
A semi-physical simulation and trajectory planning technology, applied in electrical program control, program control in sequence/logic controllers, etc., can solve the problems of large data processing capacity, high interaction ability, low cost, etc. The effect of high interaction ability and large data processing ability
Inactive Publication Date: 2017-01-11
BEIJING FORESTRY UNIVERSITY
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Problems solved by technology
[0003] In the existing technology, there is no experimental platform that can verify the operation trajectory planning and intelligent control method of the combined tree harvesting machine, with large data processing capacity, high interaction ability and low cost.
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specific Embodiment
[0030] Specific examples, such as figure 1 with figure 2 Shown:
[0031] exist figure 1 In , each box represents a functional unit, and the hardware-in-the-loop simulation system for the operation trajectory planning and control of forest harvesting machine is divided into: industrial control computer, vehicle-mounted embedded computer, vehicle-mounted PLC controller, control handle, laser measurement System, steering wheel, brake pedal, accelerator pedal.
[0032] The industrial control computer and the vehicle-mounted embedded computer are connected by a dual-redundant external CAN bus, the vehicle-mounted embedded computer and the vehicle-mounted PLC controller are connected by a dual-redundant internal CAN bus, and the laser measurement system and the vehicle-mounted embedded computer are connected by Serial connection.
[0033] Among them, the virtual simulation software developed by Visual Studio 2008 and Open Scene Graph is run on the industrial control computer. T...
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The invention discloses a semi-physical simulation system for operation track planning and control of a forestry felling and cultivation machine. The semi-physical simulation system comprises an industrial control computer, an on-board embedded computer and an on-board PLC (programmable logic controller), wherein the on-board embedded computer is connected with a laser measurement system and comprises a control input acquisition module, an output parameter display module, a stumpage laser measurement algorithm module and a track planning and control algorithm module; the on-board PLC is connected with a joystick, a steering wheel, a brake pedal and an accelerator pedal and is used for acquiring and processing control input quantity of the joystick, the steering wheel, the brake pedal and the accelerator pedal and outputting hydraulic cylinder control signals of the physical forestry felling and cultivation machine; the industrial control computer is used for completing real-time and dynamic virtual display of independent felling operation tasks of the forestry felling and cultivation machine. The semi-physical simulation system has the advantages that an operation track planning and intelligent control method for the forestry felling and cultivation machine can be verified, and the semi-physical simulation system is high in data volume processing capacity, high in interactivity and low in cost.
Description
technical field [0001] The invention relates to an intelligent control technology for forestry harvesting and breeding equipment, in particular to a semi-physical simulation system for planning and controlling the operation track of a forestry harvesting and breeding machine. Background technique [0002] The combined tree harvesting machine is a high-performance modern forestry equipment, which can complete continuous operations such as harvesting, branching, peeling, and timber production under manual intervention. When conducting experiments on such a large and complex electromechanical system as a combined tree harvesting machine, due to problems such as risk and high cost, simulation verification of key control technologies is required during the development stage. Pure software simulation is difficult to truly simulate the characteristics of the actual combined tree harvesting machine. In order to ensure the safety and economy of the combined tree harvesting machine i...
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IPC IPC(8): G05B19/05
Inventor 郑一力刘晋浩王典孙治博葛桃桃王建利
Owner BEIJING FORESTRY UNIVERSITY