摘要
针对传统人工背负式农药喷洒技术落后、药物危害大、药液雾化不均匀、劳动强度大、效率低,不能满足山丘、盆地等特殊农耕地快速精准施药要求等问题,课题组设计了一款简易植保无人机,并进行了经典PID控制及模糊PID控制的无人机变载荷飞行姿态控制实验。实验结果表明,基于模糊PID控制的植保无人机在变载荷飞行条件下,通过参数调节可以保持姿态角的基本稳定、维持无人机与作物之间的近地面距离;通过进行植保作业实地测试,植保无人机没有出现漏喷、重喷等现象,且飞行稳定,飞行与喷洒效果达到了预期目标。
In view of the problems such as the backward technology of the traditional manual backpack pesticide spraying,the great harm of the medicine,the uneven atomization of the medicine solution,the great labor intensity and the low efficiency,and so on,which can not meet the requirements of the quick and precise application of the medicine on the special agricultural land such as hills and basins,the task group designed a simple plant protection UAV,and carried out the classic PID control and Fuzzy PID control of the UAV variable load flight attitude control experiment.The experimental results show that the plant protection UAV based on Fuzzy PID control can keep the basic stability of attitude angle and maintain the near ground distance between the UAV and crops through parameter adjustment under the condition of variable load flight;Through the field test of plant protection operation,the plant protection UAV did not appear the phenomenon of leakage and re-spraying,and the flight was stable,the flight and spraying effect achieved the expected goal.
作者
王丹丹
杜雪
李宏杰
Wang Dandan;Du Xue;Li Hongjie(College of Electronic Technology and Engineering,Shanghai Technical institute of Electronics&information,Shanghai 201411;School of Electronic Information and Electronic Engineering,Anyang Institute Of Technology,Henan Anyang 454000;College of Automation,Harbin Engineering University,Heilongjiang Harbin 151000)
出处
《南方农机》
2022年第13期7-11,25,共6页
基金
国家自然科学基金项目(51709062)
河南省科技攻关项目(182102110295)
河南省教育厅高校重点科研项目(21A590001)
安阳工学院校培育基金重点项目(YPY2020001)
上海电子信息职业技术学院校级重点科研项目(A22058)。
关键词
植保无人机
模糊PID控制
飞行姿态
姿态角
plant protection UAV
Fuzzy PID control
flight attitude
attitude angel
