Design And Implementation Of Sampling Unmanned Aerial Vehicle Suitable For Water Quality Monitoring

At present,nearly two-thirds of cities in China are facing the problem of water shortage,and water pollution is the main cause of water shortage.In order to effectively monitor water pollution,it is necessary to take water samples for qualitative or quantitative analysis in time to monitor water quality.Change the situation and explore the source of pollutants.The overreliance on manual traditional water quality monitoring methods has caused a certain amount of waste of manual labor and financial resources.In order to solve this problem better,a water quality monitoring suitable unmanned aerial vehicle(UAV)is designed in this paper.Aiming at the problem that the water sampler causes greater disturbance to system,a control method of acceleration compensation is proposed.At the same time,based on acceleration compensation,two control algorithms are designed for water quality monitoring UAV,and their effectiveness is verified by simulation in MATLAB.Finally,the design and implementation of sampling UAV system suitable for water quality monitoring was completed,and water quality sampling and water quality monitoring experiments were carried out.The main research contents of this paper are as follows:First,a sampling UAV system suitable for water quality monitoring was constructed.The quad-rotor UAV is used as the main body of the UAV,combined with water quality sampling device,water quality detection sensor,wireless communication,ground station and host computer software,etc.,to construct a sampling UAV system suitable for water quality monitoring.According to the structural characteristics of the designed sampling UAV,independent modeling is adopted to establish the coordinate system of the UAV and the water quality sampler,the kinematics model is established according to the relationship between the kinetic energy and the potential energy of the system,and the Lagrangian method is used to establish the unmanned The dynamic model of the machine.Secondly,in order to solve the problem that the sampler swing is likely to cause disturbance to the system,a disturbance suppression method for acceleration compensation is proposed.According to the multi-body motion and nonlinear characteristics of the designed UAV,in order to maintain the stability of the unmanned water sampling process,two control algorithms are designed: a control algorithm based on the combination of an energy function and an integral sliding mode based on acceleration compensation,and a combination of proportional differential(PD)and sliding mode control(SMC)based on the acceleration compensation.In order to verify the effectiveness of the proposed algorithm,a simulation model was established in MATLAB,and the designed control algorithm was simulated and verified with consideration of wind or water flow and other unknown disturbances.After comparing the simulation results of the two control algorithms,the control algorithm combining the energy function based on acceleration estimation and the integral sliding mode is selected.Then,the water quality monitoring process was designed.Based on the requirements of water quality monitoring tasks,GPS/INS navigation is used to realize autonomous navigation of UAVs to the designated monitoring locations.The water quality sensor was calibrated,the water quality monitoring host computer software was designed using QT,the communication between the drone and the host computer software was established using a wireless serial port,and My SQL was combined to realize user management and data storage functions.Finally,in order to verify whether the designed sampling UAV suitable for water quality monitoring can meet the needs of water quality monitoring,the water quality detection module,wireless module and host computer are tested,the acceleration compensation disturbance suppression effect is verified,and the designed system control algorithm is experimentally verified.The destination of the design monitoring is Southwest University of Science and Technology.The two modes of remote control and autonomous UAV navigation are adopted.Water sampling are taken at five locations of Southwest University of Science and Technology,and the results of the water sampling are analyzed.The results show that the water quality monitoring UAV can meet the needs of water quality sampling and water quality monitoring.