Design Of Unmanned Aerial Vehicle System For Water Quality Sampling Based On Fuzzy PID

In recent years,the pollution of water resources in my country has become more and more serious,and stricter requirements have been put forward on water quality testing and sampling techniques.The traditional manual sampling method is no longer suitable for high-frequency and high-efficiency operations.Especially for sampling points that cannot be reached by human resources,or emergency situations,they have problems such as poor safety,low efficiency,and insufficient convenience.This design uses a six-rotor UAV as a carrier to design a water quality sampling system that can improve the efficiency and convenience of water quality sampling.At the same time,through the design of control algorithms,it can counter the instability of the drone caused by water currents,and improve the stability and sampling accuracy of the sampling system.This design is mainly divided into four parts: hardware design,control algorithm design,software design and experiment.(1)In terms of hardware,the system selects a six-rotor UAV to improve the load capacity of the system,and selects and designs environmental perception module,dynamic module,electric source module and wireless communication module to ensure the flight safety and stability of the UAV.Under the premise of meeting the standards of China's environmental protection industry,combined with the current water quality sampling problems,a special water quality sampling device is designed to ensure sampling accuracy and efficiency.(2)In terms of control algorithm,in view of the instability of the position and attitude of the sampling UAV caused by the change of external force and its own load in the operation process,this design models the force of the system,and uses the fuzzy adaptive PID algorithm to control the position and attitude of the sampling UAV,so that the sampling operation of the UAV is more stable and accurate.(3)In terms of software,the sampling UAV control software is transplanted with an embedded real-time operating system to improve the real-time performance and reliability of the system.At the same time,a land control system is designed to control and monitor the flight and sampling of the UAV.(4)Finally,the sampling drone prototype was assembled,and its various functions were tested.At the same time,the stability and control accuracy of the controller when the system was hovering at a fixed point and sampling water quality in inland and Jiajiang waters were verified.The water quality sampling UAV system is designed to complete safe,efficient and accurate water quality sample collection by virtue of its simple operation,fast response and safe portability,which has practical application value.