基于CAN总线的旋翼无人机喷洒模拟系统

Development of CAN-based Aerial Spraying Simulation System

设计了一套高精度、高可控性的无人机喷洒模拟平台,并进行了试验验证。该系统机械部分采用直线导轨结合伺服电机,最大承载质量50 kg,控制部分采用MFC设计上位机控制软件,与主控板STM32通过串口进行通讯,实现对水平和垂直2个方向上伺服电机的控制,同时采用CAN总线与喷洒控制器通讯和远程操控,可以实现喷洒流量控制以及旋翼风速控制。为评价系统运行精度,采用激光测距仪分别对系统在水平运动速度0.05、0.10、0.15、0.20 m/s下和垂直运动速度0.01、0.02、0.03、0.04 m/s下的控制距离进行距离测量,结果显示,垂直和水平方向上,控制参数与实际行程决定系数R2=1,水平与垂直重复精度优于2 mm,系统控制精度高;采用振动测试仪对系统在0.05、0.10、0.15 m/s运行速度下进行测试,通过分析振动数据,在不同运动速度下系统振动均不超过20 m/s2,其中X向和Y向在运行中存在较为稳定的4~5 m/s2的加速度,系统运行稳定。本系统可以有效降低喷洒试验载具成本,降低试验风险。

Agricultural spraying unmanned aerial vehicles（UAV） become a new hot spot in intelligent agricultural machinery field. It has a lot advantages over traditional spraying method like manual spraying and machine spraying. There is an urge need of UAV spraying technology. Meanwhile,since UAV onboard spraying takes a lot of time to prepare and is highly risky because for now there was a lack of customized flight controller for agriculture spraying. The development of an UAV aerial spraying simulation system was described. This system was developed for aerial spraying theory and methods test so as to shorten experiment cycle and motivate new spraying methods to be optimized. The system was designed and developed as a high precision, highly automated unmanned aerial vehicle（UAV）simulation platform to perform UAV indoor test. The system mechanical precision was maximum 2 mm error for horizontal,maximum error 1 mm for vertical,maximum load weight 50 kg. MFC-based upper machine software was designed and it was communicated with the main control board to realize the horizontal and vertical directions movement. CAN bus was used for communication between main control board and the far end spraying unit controller. The far end spraying controller controlled spray flow control and rotor speed. This system can effectively reduce the spraying test vehicle costs,reduce the risk,and promote the UAV spraying technology development and testing. The system can be expanded to the agricultural plant protection spray test area in many places.