農用履帶車輛PC-based控制系統之開發研究

Study on the PC-based Control System of Agricultural Carrier

陳令錫(Ling-Hsi Chen) ； 林聖泉(Tshen-Chan Lin)

《臺中區農業改良場研究彙報》 68期 (2000/09) Pp. 31-41

https://doi.org/10.6956/BTDAIS.200009.0031

摘要

完成農用履帶車PC-Based控制系統之軟硬體架構開發研究。農用履帶車為後輪驅動式，履帶底盤由橡膠履帶、齒輪式變速箱及6馬力汽油引擎構成；PC-Based控制系統採用LabVIEW軟體開發圖控程式，監控項目包括步進馬達運動控制、數位訊號輸出入控制、編碼器訊號及電子羅盤訊號擷取等四部份，此四種監控項目分別監控自走車的引擎油門位置、引擎出力軸轉速檢測、皮帶主離合器及轉向離合器動力離合控制、離合器離合位置檢測、履帶驅動輪旋轉量檢測及車體方位角檢測等。整合後之PC-based控制系統，可以順利擷取輸入訊號及輸出致動訊號，履帶車能夠按照設定參數自走前進及轉彎。

關鍵字

農用載具 ； 自動控制 ； 電子羅盤

並列摘要

An autonomous vehicle, which is navigated by a PC-based control system, was developed in this study. This vehicle consists of one crawler chassis, two sprockets, two rubber crawlers, one gear-type transmission and one 6-hp gasoline engine. This vehicle is driven by rear-wheel sprockets. The PC-based control system was composed of stepping motor, motion controller, digital input/output modules, rotary encoders and electronic compass module. The signals are detected and actuated by the application software, which was coded in LabVIEW graphical programming language. The detected signals include the speed of engine output shaft, clutch position, rotation angle of the sprockets and the vehicle's orientation. The actuated signals include the steps of the stepping motor that represented the position of engine throttle valve, and the on/off of three clutches. Three clutches are main power pulley clutch, left-hand side and right-hand side turning clutches. The crawler carrier can move and turn on time automatically, which is manipulated by the PC-based control system.

並列關鍵字

agricultural carrier ； automatic control ； electronic compass