Research On Key Technologies Of Plant Protection Multi-rotor UAV

The plant protection multi-rotor UAV has outstanding advantages in the prevention and control of agricultural and forestry diseases and insect pests,and has become a leader in the plant protection industry due to its flexible and efficient characteristics.The prevention and control of pests and diseases has a high prospect and application value in agriculture and forestry protection.When plant protection multi-rotor drones operate outdoors,there are often risks of crashes due to airflow,temperature,dust,obstacles and other reasons.Improving the control stability and adaptability of plant protection multi-rotor UAV is its key research content.The main work of this research is as follows:(1)Based on the flight principle of multi-rotor UAV,combined with the functional index requirements of plant protection multi-rotor UAV,an experimental prototype of plant protection quad-rotor UAV is designed.The dynamics and kinematics of the multi-rotor UAV are analyzed,the position dynamics equation and the attitude dynamics equation are established,and the dynamic control equation of the multi-rotor UAV is simplified and solved.(2)The quaternion is used to represent the rotation matrix,and the fusion solution of the attitude angle is carried out according to the characteristics of the gyroscope data and the acceleration data.Analyze the sensor data characteristics and use a reasonable filtering algorithm to obtain the attitude data of the multi-rotor UAV.According to the attitude dynamic control equation of multi-rotor UAV,the control equation of plant protection multi-rotor UAV is established.Using the PI＿PID controller,the PI controller is used to control the angle of the multi-rotor UAV,and the PID controller is used to control the angular velocity of the multi-rotor UAV,so as to achieve the goal of stable and reliable control of the attitude of the plant protection multi-rotor UAV.The PSO algorithm is proposed to automatically tune the parameters of the PI＿PID controller of the plant protection multi-rotor UAV,and simulation and experiments are made to verify the feasibility of the algorithm.(3)The trajectory planning of the plant protection multi-rotor UAV in any irregular operation area is carried out,and different obstacle avoidance strategies are designed for the local obstacles and regional obstacles in the operation area.It is proposed to use Dubins curve to avoid local obstacles,and use cubic B-spline curve to avoid regional obstacles,so as to adapt to the complex operating environment of plant protection multi-rotor UAVs.(4)Build the experimental environment,design the hardware circuit and software system,and verify the effect of the attitude control of the plant protection multi-rotor UAV.Analyze the control results and make appropriate improvements to the control output and attitude control margin to meet the requirements of attitude stability control.