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Droplets movement and deposition of an eight-rotor agricultural UAV in downwash flow field

International Journal of Agricultural and Biological Engineering 2017年第3期10卷 47-56页

作者： Tang Qing Zhang Ruirui Chen Liping Xu Min Yi Tongchuan Zhang Bin Beijing Research Center of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of Intelligent Equipment for Agriculture Beijing 100097China Beijing Key Laboratory of Intelligent Equipment Technology for Agriculture Beijing 100097China

The movement and deposition of the droplets sprayed by agricultural unmanned aerial vehicle(UAV)are influenced by the complex downwash flow field of the *** of conducting field experiment,a high speed particle image velocimetry(PIV)method was used to measure the movement and deposition of the droplets at different rotating speeds of rotors(1000-3000 r/min)or at different transverse injecting points(20-50 cm away from its nearby rotors)in the downwash flow field of an agricultural UAV with eight rotors and conical *** maximum speed and size of the high speed zone of the droplets were found greatly influenced by the downwash *** initial spray angle of the nozzle declined with the increase of downwash flow *** was found that the downwash velocity could not only change the deposition zone of the droplets,but also influence their *** increase of the downwash velocity would increase the deposition uniformity of the *** nozzle position in the downwash flow field could also influence the deposition of the *** the transverse distance between the nozzle and its nearby rotors increased,the relative deposition near the downwash flow of the rotors increased ***,the distance between the deposition peak and the nozzle stayed *** initial spray angle of the nozzle was not influenced by the transverse distance between the nozzle and its nearby *** research results could provide a theoretical basis and reference for the optimization of the spray application of multi-rotor UAV to minimize droplets deposition uncertainty.

关键词： chemical spray droplet deposition UAV flow field multi-rotor

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Design and test of a six-rotor unmanned aerial vehicle(UAV)electrostatic spraying system for crop protection

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International Journal of Agricultural and Biological Engineering 2017年第6期10卷 68-76页

作者： Zhang Yanliang Lian Qi Zhang Wei College of Engineering Heilongjiang Bayi Agricultural UniversityDaqing 163319HeilongjiangChina

In recent years,multi-rotor unmanned aerial vehicle(UAV)crop protection operations have experienced tremendous *** with manual operations,they have advantages such as high operational efficiency,small pesticide dosage,and low pesticide hazards for ***,the tiny droplets produced during UAV spraying for crop protection are affected by the rotor air flow and will drift in all directions in an uncontrollable manner,severely affecting the pesticide deposition pattern and resulting in pesticide *** improve pesticide use efficiency during multi-rotor UAV spraying,an electrostatic spray system was designed based on electrostatic spray technology and a six-rotor *** proper operation parameters for the UAV electrostatic spray were determined by test,which were spray altitude of 50 cm above the crop,spray pressure of 0.3 MPa and charging voltage of 9 *** test was performed based on these *** results showed that compared with non-electrostatic spray,the electrostatic spray improved by 13.6%in the average deposition density above the sampling device and 32.6%in the *** research can provide a reference for designing multi-rotor UAV electrostatic spray devices.

关键词： unmanned aerial vehicle(UAV) multi-rotor electrostatic spraying pesticide use efficiency plant protection

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Control System Design of A Vertical Take-off and Landing Unmanned Aerial Vehicle

Control System Design of A Vertical Take-off and Landing Unm...

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第三十九届中国控制会议

作者： Kai Lin Juntong Qi Chong Wu Mingming Wang Guojun Zhu School of Electrical and Information Engineering Tianjin University

This paper investigates the problem of the transition process strongly disturbed by environmental factors for the vertical take-off and landing（VTOL） unmanned aerial vehicle（UAV）. Considering the flight characteristics-wing and multi-rotor UAVs, a transition control scheme according to the change of airspeed is proposed. Firstly, a VTOL UAV dynamic model is established, which consists of three parts: multi-rotor dynamic model,-wing dynamic model and transition process dynamic model. Secondly, a VTOL UAV transition control scheme is given according to the influence of airspeed. Then, due to the transition control scheme can be unstable. To solve this problem, an adaptive super twisting sliding mode observer is adopted to estimate. Finally, the results show that the effectiveness of the proposed control scheme.

关键词： multi-rotor F-wing Vertical take-off and landing Adaptive super twisting sliding mode observer

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