四旋翼无人机喷施肥控制系统的试验台分析

Analysis on the Test Bench of the Four-rotor UAV Spraying Fertilizer Control System

针对四旋翼无人机在喷施肥作业中应用少的问题,设计一台四旋翼无人机和液态肥相结合的试验台,研制一套旋翼无人机水稻叶面肥喷施控制系统。试验以四旋翼无人机为基础,以旋翼无人机的喷孔为研究对象,实现对大面积农田液态肥高效、便捷、损耗少的喷施效果。因室内不同飞行参数和外部风速变化对无人机有效喷雾范围的影响,运用Design-expert 8.0.6对液滴沉积测试结果进行数据处理,根据有效喷雾范围的理论宽度和实验室测试分析外部环境条件变化对有效喷雾范围的影响,建立有效喷幅和参数之间的回归模型,确定适合现场运行的四旋翼无人机的最佳参数组合。试验结果表明:在室内试验中,当行驶速度一定时,有效喷幅随着无人机作业高度的增加先增加后减小,最佳的无人机喷药高度在2.0~2.5m范围内,有效喷幅范围为4.6~5.5m;当无人机作业高度一定时,有效喷幅随速度的增加先增加而后变小,当无人机高度在2.5m,行驶速度为1m/s时得到最佳有效喷幅,宽度为5.5m,变异系数为24.8%。

Aiming at the problem of low application of four-rotor drones in spraying fertilizer operations,study a set of control system for spraying fertilizer on paddy rice with rotary wing drone,design a test bed combining a four-rotor UAV and liquid fertilizer,based on quad-rotor drones,the nozzles of rotor drones are the research object,achieve high-efficiency,convenient,and low-loss spraying effects of liquid fertilizer on large areas of farmland.The effect of different indoor flight parameters and external wind speed changes on the effective spray range of UAVs,using Design-expert 8.0.6,data processing of droplet deposition test results,according to the theoretical width of the effective spray range and laboratory tests,analyze the influence of changes in external environmental conditions on the effective spray range,establish a regression model between the effective spray range and parameters,and determine the best combination of parameters for a quad-rotor UAV suitable for on-site operation.