| With simple structure,convenient control,high safety performance,the unmanned plant protection plane with several rotors has increasingly favored by the agricultural science and technology workers.The structure and control system are the main parts of the unmanned plant protection plane,so whether the design of these two parts is successful directly decides its quality.The main work of this paper is:1.According the current market orientation and basis on the design of the overall scheme of the unmanned plant protection plane to design the main structure of this aircraft.At the same time,to make sure whether the structural design is reasonable and reliable through analyze the force of the main body structure and connecting parts by using finite element analysis.2.To analyze the motion mode of the aircraft system,and analyze the dynamical state of the whole system,build the dynamic model,and decoupling the nonlinear model to get the ultimate control object.3.To design the controller based on sliding mode control which uses the extended state observer(ESO)to observe the disturbance for typical control loop in the unmanned plant protection plane.And the relevant simulation results are given.4.To analyze the function of each hardware,and design the circuit of central control module,power module,communication module and motor control module.To analyze the overall process of the software,and design the process of taking off,cruising,turning around and so on.Through the research on the structural system,dynamic model,typical control loop,hardware scheme and software process of the unmanned plant protection plane with several rotor,this thesis is aimed to assess the structure strength,stiffness and the feasibility of the flight scheme,it also lay the foundation for the further research and development of the unmanned plant protection plane with several rotors. |
