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摘要植保无人机模拟移动平台设计

植保无人机喷施作业由于作业效率高、成本低、不受地域的限制等诸多优点，在我国越来越受到重视和普及，广泛的应用于丘陵、山地、平原等地块，作业对象有水稻、小麦、玉米、棉花、大豆等作物，也有柑橘、苹果、柚子、槟榔等果树作物。植保无人机主要有单旋翼、多旋翼、固定翼、油动、电动等多种类型的组合，在我国农业植保领域有了快速的发展。本论文研究设计并搭建植保无人机模拟移动平台。可以精确调节平台运行速度、高度、控制无人机旋翼风场。通过改变步进电机控制器脉冲频率和个数来控制轨道小车运行速度，轨道小车带动无人机水平直线运行，控制升降装置可以精确改变平台高度，控制无人机遥控器油门来精确改变旋翼的升力，从而改变旋翼下洗风场。轨道小车运行速度改变范围为 0-3m/s，平台高度调节范围为 2-3m（无人机喷头离地面高度），旋翼风场用旋翼升力进行量化，试验中的无人机升力变化范围为 0-100N（单个旋翼）。

关键词：植保无人机；雾滴沉积；模拟平台；参数优选

Design of indoor test system for plant protection UAV

Abstract

The spraying operation of plant protection unmanned aerial vehicle (UAV) has been paid more and more attention and popularized in China because of its advantages such as high operation efficiency, low cost and no geographical restrictions. It is widely used in hills, mountains, plains and other plots. The working objects are rice, wheat, corn, cotton, soybean and other crops, as well as citrus, apple, grapefruit, betel nut and other fruit crops. There are many types of unmanned aerial vehicles for plant protection, such as single-rotor, multi-rotor, fixed-wing, oil-powered, electric and so on, which have developed rapidly in the field of agricultural plant protection in China. This paper studies, designs and builds an indoor experimental platform for droplet deposition effect. It can accurately adjust the running speed and height of the platform and control the wind field of the UAV rotor. By changing the pulse frequency and number of stepping motor controller, the running speed of the track trolley is controlled, the track trolley drives the UAV to run horizontally and linearly, the platform height can be accurately changed by controlling the lifting device, and the lift of the rotor can be accurately changed by controlling the accelerator of the UAV remote controller, thus changing the downwash wind field of the rotor. The running speed of the rail car varies from 0-6m/s, and the platform height is adjusted from 2-3m (the height of UAV nozzle from the ground). The rotor wind field is quantified by rotor lift, and the lift of UAV in the test varies from 0-100N (single rotor).

Key words: plant protection drone; Droplet deposition; Test platform; Parameter optimization