四旋翼飞行器与物联网技术的环境检测系统设计

Design of environmental detection system using quadrotor and Internet of Things technology

环境质量检测是环境治理环节中最基础最重要的一个环节。传统的人工或半人工的检测可能会损害检测人员的身体健康,并且机动性能较差,无法快速的检测大范围的空气质量,因此,文中针对传统的检测方法提出改进,通过四旋翼飞行器结合物联网技术中的NB⁃IoT实现空气质量检测系统。四旋翼采用内外环的全局滑模鲁棒控制方法设计的控制律保证了系统的闭环稳定性。通过仿真实验表明,所提系统能够正常稳定工作,采集的数据精度在误差范围内,可达到预期设计要求。

Environmental quality detection is the most basic and important part of environmental governance,but the traditional manual or semi⁃manual detection methods may damage the health of the detection personnel,and the mobility performance is poor,unable to quickly detect a wide range of air quality.The improvement of the traditional detection methods is proposed,and the air quality detection system is realized by the combination of quadrotor and NB⁃IoT in the Internet of Things technology.The closed⁃loop stability of the system is guaranteed by the control law designed by the method of global sliding mode robust control with the inner and outer rings.The simulation experimental results show that the system designed in this paper can work normally and stably,and the accuracy of the collected data is within the error range,which can meet the expected design requirements.