喷洒作业下四旋翼植保无人机的轨迹跟踪控制  

Trajectory Tracking Control for Plant Protection Quadrotor Under Spraying Operation

作　　者：乔伟根 王日俊 曾志强[1,2] 党长营 段能全[1,2] 杜文华[1,2] Qiao Weigen;Wang Rijun;Zeng Zhiqiang;Dang Changying;Duan Nengquan;Du Wenhua(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Shanxi Key Laboratory of Advanced Manufacturing Technology, North University of China, Taiyuan 030051, China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]中北大学先进制造技术山西省重点实验室,太原030051

出　　处：《农机化研究》2022年第6期9-17,共9页Journal of Agricultural Mechanization Research

基　　金：山西省自然科学基金项目(201801D121187);中北大学先进制造技术山西省重点实验室开放课题研究基金项目(XJZZ201905,XJZZ201904)。

摘　　要：针对所搭载药箱内药液变化导致四旋翼植保无人机喷洒作业品质下降的问题,为实现喷洒作业下四旋翼植保无人机的轨迹跟踪控制,提出一种喷洒作业下四旋翼植保无人机的轨迹跟踪控制方法。在考虑喷洒作业下药液变化影响的前提下,建立了四旋翼植保无人机的非线性动力学模型。在原有PD控制的基础上,引入模糊控制器对控制参数进行在线自适应整定,从而实现喷洒作业下四旋翼植保无人机的轨迹跟踪控制。实验结果表明:所提出的方法能够保证喷洒作业下四旋翼植保无人机的稳定跟踪控制,且响应速度快、超调量小,满足四旋翼植保无人机喷洒作业条件下的跟踪控制需求。Aiming at the problem of the quality decline of the plant protection quadrotor in spraying operation caused by the change of liquid in the medicine cabinet carried on it,the trajectory tracking control of the plant protection quadrotor under spraying operation was realized,and a trajectory tracking control method of the plant protection quadrotor under spraying operation was proposed.The nonlinear dynamics model of the plant protection quadrotor was established under the premise of considering the influence of the liquid changes in spraying operation.Based on the PD control,a fuzzy controller is introduced to adjust the control parameters online,so as to realize the trajectory tracking control of the plant protection quadrotor under spraying operation.The experimental results show that the method proposed in this paper can ensure the stable tracking control of the plant protection quadrotor under spraying operation,with fast response speed and small overshoot,and meet the tracking control requirements under spraying operation conditions of the plant protection quadrotor.

关 键 词：四旋翼植保无人机 喷洒作业 参数整定 轨迹跟踪 

分 类 号：S252.3[农业科学—农业机械化工程]