Research On Energy Load Matching Technology Of Multi Rotor Agricultural UAV

Energy load matching technology involves the rational allocation of agricultural resources,energy utilization of plant protection equipment and other issues.It plays an important role in agricultural energy conservation,environmental protection and cost-saving.The application of agricultural UAV can effectively improve the operation efficiency and reduce the operation cost.According to 5% of the operation area,the application of UAV can save 10 yuan/mu of labor cost,1 yuan/mu of pesticide cost and 4.62 billion yuan of comprehensive cost-saving and income.To overcome the difficult problem of energy load matching technology and create an integrated and efficient agricultural aircraft system will solve the problems of poor operational stability at ultra-low altitude,difficulty in adapting to complex farmland environment and difficulty in ensuring operational efficiency and effectiveness of existing agricultural UAVs in China,and greatly improve the level of intelligence and research and development of key components and whole aircraft of agricultural UAVs in China.Reaching or approaching the level of developed countries.At present,there is little research on the energy load matching technology of multi-rotor agricultural UAV,so this paper studies the energy load matching technology of multi-rotor agricultural UAV.Aiming at the difficulty of UAV flight time prediction,this paper constructs a power and energy consumption model of multi-rotor agricultural UAV,and carries out experiments to verify the feasibility and accuracy of the model.Through the simulation and optimization of the model,the most suitable operating parameters of multi-rotor agricultural UAV are obtained,which has theoretical and practical significance in the field of plant protection application.The main research contents and results are as follows:1)The theoretical model of power and energy consumption calculation for multi-rotor agricultural UAV is built,and the UAV test platform is built.By changing the weight and operation speed of UAV,six groups of hovering test and six groups of operation flight test are carried out respectively.Six groups of test results show that the test duration of UAV in hovering state is 89%～93% of the theoretical duration,and that in operational flight state is 80%～83% of the theoretical duration.2)The energy load matching model of multi-rotor UAV with variable load was built and simulated,and the matching rule between lithium battery and spraying liquid was obtained under the influence of velocity,spraying volume per mu,operating distance and other parameters.Qualitative analysis of the impact of factors on the simulated battery weight,the impact degree from high to low is mu spray volume,speed,operating distance,respectively.Under the same other conditions,the battery weight is positively correlated with the spray volume per mu and the operating distance,and negatively correlated with the speed.3)The theoretical model of power and energy consumption calculation is constructed to guide the construction of multi-rotor agricultural UAV and to test and verify it.The hovering time of the self-built fixed-load eight-rotor agricultural UAV can reach 32.2 minutes.The ratio of actual time to theoretical time is 92%,and the model prediction is more accurate.4)The genetic algorithm is used to optimize the energy load matching performance of the multi-rotor agricultural UAV,and the related parameters are obtained to optimize the overall performance of the UAV.For the multi-rotor agricultural UAV with 10 kg carbon fiber weight,it carries 7.89 L of medicinal liquid.When its operating speed is 3.26m/s and the injection rate per mu is 2.37L/mu,the overall performance of the UAV is the best and the energy utilization rate is high.In this paper,the energy load matching technology of multi-rotor agricultural UAV is studied by means of theoretical modeling,experimental verification and optimization design.The research results are helpful to improve the rational matching of energy and load in the process of UAV operation and promote the efficient utilization of multi-rotor agricultural UAV energy.