Experimental Study On The Energy Consumption Law Of Plant Protection Drone

With the development of mechatronics and automatic control technology,the application of drones equipped with pesticide spray equipment has become an important means of crop pest control.Compared with the manual spraying method,the plant protection drone is more efficient,quicker,more environmentally safe,and more accurate.Compared with the oil-operated plant protection drone,the electric cost is lower,the operation is convenient,the mobility is better,and the farmer is more Accepted.However,the problem of battery life of electric plant protection drones seriously affects its promotion and use.In the actual plant protection operation,the flight control hand often determines the flight speed according to the area of the operation area and the amount of pesticide sprayed.The flight characteristics of the plant protection drone are not fully considered,and the operation time of the plant protection drone is greatly reduced.To this end,this paper studies the energy consumption law of plant protection drones through a large number of flight tests,compares the energy consumption required for different flight speeds under the same operation path,finds the economic speed value,thereby improving the endurance of the UAV,and analyzing different flights.The law of energy consumption under the stage has certain guiding significance for the development of plant protection work for drones,and also provides technical reference for drone manufacturers.The main research work and research results are as follows:(1)For the electric multi-rotor plant protection drone,build an experimental platform that can meet the following functions: real-time monitoring of battery operating voltage,current and remaining power,GPS positioning,GPS speed measurement,data storage and export function,and waypoint flight function The waypoint flight can set the speed,view the 3D flight trajectory,and independently plan the line sweep path function.(2)Using the self-built test platform,combined with the flight characteristics of plant protection drones,the main body of the UAV autonomous take-off and landing and automatic linear round-trip flight test at different speeds,combined with the wind,wind direction and flight altitude of the test site,flight Parameters such as speed are classified based on flight data.The high-order polynomial fitting process is performed on the classified data,and the energy consumption calculation is performed according to the energy consumption calculation formula.(3)According to the analysis of energy consumption rules in different stages of straight-line flight,it is concluded that the plant-protected drone has the largest energy consumption for deceleration flight and the lowest energy consumption for uniform flight in the horizontal direction of the same route.In the vertical direction,the energy consumption for take-off is the largest.The hovering energy consumption is second,and the conclusion is that the energy consumption is the least.(4)Different from finding the shortest path to solve the drone's battery life,this study analyzes the energy consumption law of different flight speeds and finds that the economic speed of this plant protection drone is 8.4 m/s.According to the energy consumption law,the energy consumption of the economical speed and the conventional speed(4-6 m/s)flying in a straight line of 300 m is calculated,and the percentage reduction of the flight energy consumption at the economic speed relative to the conventional speed is 45%,33%,21%,respectively.As the linear distance increases,the difference in energy consumption between the two flight speeds is greater.(5)Finally,the economical operation flight is compared with the conventional speed(4 m/s)flight to compare the energy consumption and verify the accuracy of the economic speed value.When the route distance is set to 200 m,the flight at an economical speed is compared with the normal speed of 4 m/s,and the energy consumption is reduced by 46%.