Rotor UAV Rice Foliar Fertilizer Spraying Control System

UAVs can effectively improve operation efficiency when operating in the hilly and mountainous areas of Daejeon or Zhongxiaotian.Due to the high distance from the crop during the operation,the distribution of droplet deposition will be affected by the speed and wind speed,resulting in unstable coverage of the spraying operation.In order to determine the optimal spray structure factor of the nozzle hole of the drone,CFD simulation is adopted for the nozzle hole;in order to improve the stability of the drone in flight control,a variable structure control is proposed in view of the complexity and uncertainty of the controlled system The program uses sliding mode variable structure control algorithm to control the performance of the UAV flight system to achieve stable flight;according to the simulation,the test bench is designed and built for indoor and outdoor spray testing;finally,the UAV Analyze the uniformity of spray deposition and effective spray range under spraying,determine the factors that affect the parameters,construct a regression model of effective spray range and parameters,and meet the performance requirements of controlling drones in indoor and outdoor tests.The main research is as follows:(1)According to the agricultural requirements of drone operations,a test bench device that can be sprayed by drones indoors and outdoors is designed.The movement of the test bench is to achieve the purpose of free travel with the help of the traveling motor;the lifting test bench controls the height to conduct research and tests at different heights.The test bench sprayed by the rotary-wing UAV can collect fog droplets while driving.The test bench can carry out lifting adjustment from 1.0m-3.5m,and the adjustable speed range of the speed-regulating motor is0m/s-2.5m/s;(2)The various factors affecting the nozzle holes and the flight control of the UAV on the test bed were simulated separately.In the simulation process,first construct a simple simulation fluid domain for the UAV model in Design Modeler,use Meshing to divide the calculation domain of the flow field,and use FLUENT software to determine the angle,diameter,and diameter of the nozzle hole when the fertilizer is flowing.Simulation analysis on the number and wind speed of the impact;simulation on the UAV flight control,adding a sliding mode variable structure algorithm to the drive motor,analyzing the UAV's position and attitude,and controlling the UAV Buffeting during flight;(3)Conduct indoor tests.First study the test of the test bench under the single factors of lifting height and moving speed,and obtain the optimal parameters of the single factor;then,under the combined action of the two factors,carry out the two-factor four-level orthogonal test,and use the Design-expert8.0.6 software to judge Effective spray width and deposition uniformity,and finally get the best effective spray width;(4)Based on the research data in the test bed room,the operating height,driving speed and external wind speed of the UAV are selected as the test factors.By analyzing the influence of each parameter change on the effective spray range and deposition uniformity under UAV operation,the interaction between various factors is determined,and the effect of the effective spray range and deposition uniformity is analyzed,and a regression model is constructed to judge the effective spray range and the uniformity of deposition.The relationship between all parameters is determined,and the parameters related to the outdoor of the UAV are determined.The result is: when the external wind speed is about 1.5m/s,the height of 2.5m,and the driving speed is 1.0m/s,the quadrotor The best effective spray width under the operating parameters of the drone is 7.5m.In summary,CFD simulation analysis has determined the optimal position factor of the nozzle hole.By adopting sliding mode variable structure control,the drive motor can have good control accuracy,and the overall test results can meet the basic requirements.It is an agricultural drone rice.The research of spraying foliar fertilizer provides a certain foundation.