植保无人机实时变量喷洒控制系统设计与试验

Design and Experiment of Real-time Variable Spraying Control System for Plant Protection UAV

针对目前植保无人机在手动作业时,需要人为控制农药流量大小和植保机飞行速度,无法实现农药流量和飞行速度的实时匹配,造成农药喷洒不均匀的问题,开发了一种实时变量农药喷洒的控制系统。系统以STM32F103ZET6单片机为核心,使用GPS北斗定位模块进行速度和位置信息采集,基于PWM技术控制离心喷头的转速和水泵的药液流量,通过流量计反馈实时流量,形成闭环系统,并使用PID算法对整个系统进行精准控制。工作时,基于USART HMI串口屏设计的上位机远程实时地控制离心喷头转速和农药流量,同时在上位机的液晶屏幕上显示飞行参数等信息。试验结果表明:植保无人机实时变量喷洒控制系统可行,系统开机初始化时间为3.5s;在地面站离主设备1m~1km之间,系统响应时间为10~45ms之间,且农药流量控制系统的实际流量和理论流量之间的平均误差为2.2%。

In view of the current situation that the pesticide flow and flight speed of plant protection UAV need to be manually controlled during manual operation,which can not realize the real-time matching of pesticide flow and flight speed,resulting in uneven pesticide spraying,a real-time variable pesticide spraying control system is developed.The system is based on the STM32F103ZET6 single-chip microcomputer,uses GPS&BD positioning module for speed and position information collection,based on PWM technology to control the speed of the centrifugal nozzle and the liquid flow of the pump,feedback the real-time flow through the flowmeter,forming a closed loop system,using the PID algorithm Precise control of the entire system.The host computer based on the USART HMI serial screen design remotely controls the speed of the centrifugal nozzle and the pesticide flow in real time,and at the same time displays flight parameters and other information on the LCD screen of the host computer.The test results show that:the plant protection drone real-time variable spraying control system is feasible,and the system startup time is 3.5s;when the ground station is between 1m-1km away from the main equipment,the system response time is between 10-45ms;pesticide flow control system The average error between the actual flow rate and the theoretical flow rate is 2.2%.