基于模糊PID的无人机叶面肥喷施控制策略研究

Research on Foliar Fertilizer Spraying ControlStrategy of UAV Based on Fuzzy PID

针对四旋翼无人机叶面肥喷施流量控制精度较低的问题,设计了一种基于模糊PID控制的四旋翼无人机叶面肥控制系统。以四旋翼无人机电磁流量调节阀为研究对象,建立电磁流量调节阀数学模型,采用模糊控制与PID控制相结合控制电磁阀的开度;以常规PID控制为对比,采用Matlab/Simulink验证叶面肥喷施模型的准确性和控制系统的有效性;搭建四旋翼无人机叶面肥喷施控制平台,进行喷施效果试验,验证模糊PID控制算法的控制精度和有效性。仿真结果表明:模糊PID控制曲线相比较常规PID控制曲线更符合目标量曲线的变化规律,模糊PID控制性能优于常规PID控制。试验结果表明:不同飞行速度条件下的实际流量与理论流量的最大误差不超过2.50%,满足喷施作业的要求。

Aiming at the problem of low precision of blade fertilizer spraying flow control of four rotor UAV,a four rotor UAV blade fertilizer control system based on Fuzzy PID control is designed.In this design,the electromagnetic flow regulating valve of four rotor UAV is taken as the research object,the mathematical model of the electromagnetic flow regulating valve is established,and the opening of the electromagnetic valve is controlled by the combination of fuzzy control and PID control;Compared with conventional PID control,Matlab/Simulink is used to verify the accuracy of foliar fertilizer spraying model and the effectiveness of control system;A four rotor UAV foliar fertilizer spraying control platform is built,and the spraying effect test is carried out to verify the control accuracy and effectiveness of the fuzzy PID control algorithm.The simulation results show that the fuzzy PID control curve is more in line with the change law of the target curve than the conventional PID control curve.For the electromagnetic flow valve control,the fuzzy PID control performance is better than the conventional PID control.The test results show that the maximum error between the actual flow and the theoretical flow under different flight speeds is not more than 2.50%,which meets the requirements of spraying operation.