基于数学建模的植保无人机特征结构分析  

Characteristic Structure Analysis of Plant Protection UAV Based on Mathematical Modeling

作　　者：刘洋俊 Liu Yangjun(Henan Agricultural Vocational College,Zhengzhou 451450,China)

机构地区：[1]河南农业职业学院,郑州451450

出　　处：《农机化研究》2023年第6期239-242,共4页Journal of Agricultural Mechanization Research

基　　金：河南农业职业学院科学研究项目(HNACJX-2019-01)。

摘　　要：以植保无人机飞行控制为研究对象,建立植保无人机飞行控制时采用的自身坐标系、速度坐标系及地面相对坐标系,同时对植保无人机飞行动力学进行系统数学建模。采用特征结构配置的方式对飞行过程目标参数进行识别,对飞行控制参数进行解耦,优化飞行过程独立目标参数,获取最优解,达到快速精确进行植保无人机飞行控制的目的。仿真实验表明:在不同的起飞初始速度下,植保无人机能够快速进行俯仰角响应,并与目标值之间具有较高的一致性;在平飞作业过程中,植保无人机控制系统能够根据障碍物参数,及时进行飞行姿态调整以有效避障。This paper takes the flight control of plant protection aircraft as the research object,establishes its own coordinate system,velocity coordinate system and ground relative coordinate system used in the flight control of plant protection aircraft,carries out the system mathematical modeling of the flight dynamics of plant protection aircraft,identifies the target parameters in the flight process by the way of feature structure configuration,decouples the flight control parameters,and optimizes the flight process In order to achieve the purpose of fast and accurate flight control of plant protection aircraft,the target parameters are set up and the optimal solution is obtained.The simulation results show that under different initial take-off speeds,the plant protection aircraft can quickly respond to the pitch angle,and has a high consistency with the target value;in the process of level flight,the plant protection aircraft control system can timely conduct flight attitude and effectively avoid obstacles according to the parameters of obstacles.

关 键 词：植保无人机 特征结构配置 数学建模 避障 

分 类 号：S252.3[农业科学—农业机械化工程]