Research On Flight Control Technology For Agricultural Plant Protection Unmanned Helicopter

Agricultural plant protection unmanned helicopter has a broad application and market promotion space, because of it's characteristics of efficiency, safety, convenience and low cost. Taking a 40 kg mirco unmanned helicopter as the research object, the purpose of this study is to develop the flight control system, which is suitable for spraying pesticide by agricultural plant protection unmanned helicopter. This thesis is mainly from the following aspects: software and hardware architecture, flight control law, control security and software implementation etc., to research on the flight control technology with the core of joystick.The research process is as follows. According to the research purpose and technical demand, firstly, giving a brief introduction of the hardware of the agricultural plant protection unmanned helicopter flight control system, and formulating the optimization scheme and research methods of flight control system software architecture. Secondly, introducing in detail on the system optimization which is mainly about real-time control system, bottom driver and data communication. Thirdly, focusing on the research of flight control technology with core of joystick by the follows, improving the prepositive signal processing methods and function definition of the joystick, designing the unmanned helicopter multi-channel inner / outer loop control law, proposing the design of four control modes based on the joystick, which includes increasing stable control mode, speed control mode, automatic distance mode and the route autonomous mode, and finishing the software design and the module realization. In addition, solving the problem of safety with the core of high precision control and the route planning problem of irregular farmland.Finally, test and verify in detail on some research contents in three improving flight simulation verification environment, and the results of this study in sample unmanned helicopter sorties has been proved to be effective by the actual pesticide spraying flight. Comprehensive test results show that the proposed flight control scheme based on the joy stick can effectively accomplish the mini unmanned helicopter pesticide spraying task, reduce the operating load, improve the working efficiency, safety, and improve the level of automation, which is benefiting for promotion and application of agricultural plant protection unmanned helicopter in modern agriculture machinery market.