| At present,China’s plant protection drones have developed rapidly and gradually become the main means of pest control.In the process of plant protection drones,the flight path change speed is changed by adjusting the flight attitude.The change of flight attitude will cause the boom attitude to occur.change.As a key component of the plant protection drone application device,the spray bar is equipped with a spray head,so the spray head will change with the change of the posture of the body,thereby affecting the spray effect.In view of this phenomenon,this paper designs a boom suspension mechanism,which enables the boom to adjust the angle in the roll direction and the pitch direction,and provides a hardware basis for studying the influence of the flying attitude of the drone on the spray deposition effect.Through the simulation analysis of the boom suspension mechanism and control system,verify the rationality of the boom suspension mechanism and the performance of the control system.Finally,the impact of the attitude change on the droplet deposition during the field operation of the plant protection drone is simulated.Happening.Main content and conclusions:(1)In order to determine the range of attitude angle change of the plant protection unmanned aircraft during operation,the Eula angle method is used to solve the flight attitude spectrum acquired by the plant protection unmanned aircraft flight control system,and finally the angle of the UAV in the pitch direction is calculated.The range of variation is-18°~18°,and the angle of the roll direction varies from-15° to 14°.(2)In order to verify the influence of the attitude angle change on the droplet deposition effect during the operation of the drone,the wind tunnel laboratory is used to simulate the drone’s flight speed of 4m/s,and the different roll angles and elevation angles are collected.According to the experimental data,the effective spray width of the droplets decreases when the roll angle changes,the coefficient of variation of the droplet deposition increases,and the larger the deflection angle,the more obvious;according to the effective spray width and droplets in the pitch direction The coefficient of variation of the sedimentation coefficient can be obtained.When the pitch angle is 11°,the droplet deposition effect is the best,so the roll angle is 0° and the pitch angle is 11°,which is set as the target value of the boom suspension control system.(3)In order to realize the separation of the boom attitude and the fuselage posture during the operation,the boom suspension control system is designed.Firstly,the boom suspension structure is designed according to the size and posture adjustment angle of the fuselage,and sprayed by Ansys/Workbench.The finite element analysis of the rod suspension structure shows that the boom suspension mechanism meets the strength requirements and does not resonate with the drone rotor.Secondly,the design of the boom suspension control system mainly includes hardware design,control algorithm and program design.(4)In order to verify the performance of the boom suspension system,the trial production and performance test of the boom suspension system.After the trial production of the boom suspension system is completed,the design and production of the test bench are first carried out,and then the performance test bench of the boom suspension system is built.The spray boom suspension control system can be verified according to the angle adjustment range of the boom suspension system.The attitude angle of the spray bar is adjusted to ±30° in the pitch direction and ±20° in the roll direction.According to the performance test of the boom suspension system,the boom is subjected to interference with the pitch angle of 30°,15° and the roll angle of 20° and 10°.The average response time of the system is 133 ms,131ms,146 ms,and 140 ms,indicating that the system stability is good. |
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