无人机变量施药实时监控系统设计与试验

在航空施药过程中,为保证单位面积施药量的一致性、实现施药流量的实时控制,提出一种航空变量施药分级控制算法。该算法根据各参数的等级和阀门开度建立分级控制表,再结合分级控制公式计算作业参数变化时阀门对应的开度,从而计算出施药流量,实现施药流量的自动调节。基于该算法设计了基于单片机多信息融合的航空变量施药实时监控系统,通过软硬件设计实现了对作业航迹、作业高度、作业速度、施药流量及药液余量等信息的实时监测,进行了航迹监测试验、施药流量监测试验、液位监测试验和变量施药控制试验等。结果表明,该系统可以准确监测多种作业参数,并可根据参数变化精准调控施药流量;飞行航迹监测平均偏差为0.98 m,施药流量监测平均误差为3.57%,液位监测平均误差为1.97%,系统对流量控制的最大误差为9.26%。

Design and Test of Real-time Monitoring System for UAV Variable Spray

The dosage sprayed upon per unit area is an important indicator to measure the performance of spray. In order to ensure the consistency of the dosage sprayed upon per unit area, and realize the real-time control of the spray volume, based on the analysis of aerial variable spray technology, a set of hierarchical control algorithm of aerial variable spray for UAV was proposed. A hierarchical control table was created based on the level of each spray parameter and the opening degree of the valve. And then a corresponding opening degree value of the valve was obtained when spray parameters changed by combining hierarchical control formula. And it can calculate the spray volume to realize the purpose of automatically adjusting the spray volume. A set of real-time monitoring system of aerial variable spray for UAV was developed in view of the algorithm and multi-information fusion technology based on single chip microcomputer. And the system realized the real-time monitoring of information such as flight track, flight height, flight speed, spray volume and liquid residue through the design of software and hardware. And experimental studies of flight track monitoring, spray volume monitoring, liquid level monitoring and variable spray control were carried out. The test results showed that the system can accurately monitor a variety of spray parameters in real time and precisely regulate the spray flow according to the parameter changes. And the mean deviation of flight track monitoring was 0.98m. The mean deviation of spray volume monitoring was 3.57%. The average deviation of liquid level monitoring was 1.97%. The maximum error of spray volume control was 9.26%.