| With the progress of mechanization of farmland operation,the traditional plant protection technology has been unable to meet the requirements of modern and rapid agricultural and forestry operation.It is imperative to develop plant protection equipment that meets the needs of new era.Plant protection unmanned aerial vehicle(UAV)arises at the historic moment.Compared with other UAVs,the plant protection six rotor UAV can achieve smooth flight and safe operation,and is favored by people because of its simple structure,easy maintenance,flexible operation and suitable for complex and changeable operation environment.The plant protection six rotor UAV can load various devices flexibly,and complete various plant protection projects such as farmland monitoring,particle seeding,soil moisture collection,pesticide spraying,chemical fertilizer application and so on,and send the required information back to the ground station in real time by the data transmission system to provide reference for staff analysis.Therefore,it is of great practical significance to strengthen the research and application of the six rotor unmanned aerial vehicle(UAV).This topic mainly takes the Six rotor UAV for plant protection under time-varying load as the research object,completes the overall design of the control scheme,and applies a new control algorithm.The main research contents are as follows:1)based on detailed analysis of the structure and flight principles of plant protection six rotor UAV,the overall scheme of control system is designed,which is divided into two subsystems: flight control and spray unit.2)the composition of the flight control subsystem is studied,selected and matched key components such as flight control,rotor assembly,power module and sensing system,and completed the design of flight control subsystem.3)discuss the working mode of the spray unit subsystem,and divide it into two parts: management unit and power unit.The key parts of the two part are selected,and the construction of spraying subsystem is completed.4)completed the establishment of plant protection six rotor UAV dynamic model and physical model kit under time-varying load,fuzzy adaptive PID control algorithm is applicated and experiments simulation in Matlab software show that compared with conventional PID,fuzzy adaptive PID control in real variable robust regulation is more better in system model;5)the self built plant protection six rotor UAV was brought to the open experimental field to carry out plant protection experiments,and achieved the technical requirements of fixed high flight,precise operation and uniform spraying under time-varying loading. |
