多旋翼植保无人机变量喷洒系统设计

摘要

基于脉宽调制(Pulse Width Modulation,PWM)技术设计了多旋翼植保无人机变量喷洒控制系统.该系统由硬件和软件两部分组成,硬件由多旋翼植保无人机起落架、变量喷洒控制器及霍尔流量计组成,软件则实现占空比控制喷洒流量.采用Abaqus 有限元分析软件对多旋翼植保无人机变量喷洒系统的关键受力部件进行线性静力分析,结果表明:关键受力部件变形较小,设计合理. 此外,进行了占空比与喷洒流量关系实验,结果表明:当占空比为6%~8% 时,流量与占空比采用3次多项式得到较好的拟合其可决系数 R2达0.998;当占空比大于8%时,喷洒流量达到最大且不随占空比增加而变化.%The variable spraying system based on the multi-rotor plant-protection unmanned aerial vehicle(UAV)was designed by the pulse width modulation(PWM)technology.The system was composed of hardware and software.The hardware system was consisted of UAV landing gear and variable spray controller,while the software system realized the function of the duty ratio regulator to control the flow rate.Moreover, the key mechanical parts of the multi-rotor UAV was linear static analyzed via the Abaqus analysis software.The finite element results show that the deformation in the critical stress components is small.Thus,the design is reasonable.In addition,the experiment about the relationship of duty ratio and the spray flow is carried out.The results reveal that,when the duty ratio is in the range between 6%and 8%,the third degree polynomial can perfectly fit the experimental data, and the R2is 0.998.When the duty ratio is greater than 8%,the spray flow is attained to the maximum and do not change with the increase of duty ratio.