摘要
针对环境保护部门等用户对水质采样专用无人机的需求和具体要求,本文设计了水质采样专用四旋翼无人机,分别从无人机的部件、采水装置、电路模块等硬件设备,以及控制算法、采样流程等软件方面进行介绍.本文在四旋翼无人机动力学模型基础上,加入对水流冲击力的分析,设计四旋翼无人机的飞行采样模式,并对其有效性与实用性进行仿真测试与实践验证,完成了水质采样专用四旋翼无人机的手动采样与自动采样过程.
To meet the requirements of users from the environmental protection departments, the quad-rotor UAV for water quality sampling is designed and developed. We describe in detail the UAV components, the water collecting devices, the embedded module and other hardware equipment, as well as the control algorithm and the sampling process. Based on the dynamic model of the quad-rotor UAV, this paper analyzes the impact force of water flow, and designs the flight and sampling mode of the quad-rotor UAV. Also, the effectiveness and practicality of the UAV for water quality sampling are verified by the simulation and practice, with the manual sampling and automatic sampling processes.
作者
王冕
白天翔
熊亚馨
季英良
张建
姜宇一
董西松
沈震
刘希未
Mian Wang;Tianxiang Bai;Yaxin Xiong;Yingliang Ji;Jian Zhang;Yuyi Jiang;Xisong Dong;Zhen Shen;Xiwei Liu(The State Key Laboratory of Management and Control for Complex Systems ＆ The Beijing Engineering Research Center of Intelligent Systems and Technology,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;College of Internet of Things,Jiangnan University,Wuxi 214122,China;Cloud Computing Center,Chinese Academy of Sciences,Dongguan 523808,China;University of Chinese Academy of Sciences,Beijing 100049,China;Beijing No.4 High School,Beijing 100034,China;Institute of Smart Education Systems,Qingdao Academy of Intelligent Industries,Qingdao 266109,China)
出处
《控制工程期刊（中英文版）》
2017年第1期23-30,共8页
Scientific Journal of Control Engineering
基金
国家自然基金项目（61233001,71232006,61533019,61304201）
青岛市科技惠民专项项目（16-6-2-62-nsh）
广东科技厅项目（2014B010118001,2014B090902001,2014A050503004,2015B010103001,2016B090910001）.
关键词
四旋翼无人机
水质采样
动力学模型
飞行控制
Quad-rotor Unmanned Aerial Vehicle
Water Quality Sampling
Dynamic Model
Flight Control Method
