张艳超,陈杨,李艺健,刘飞,何勇.基于CAN总线的旋翼无人机喷洒模拟系统[J].农业机械学报,2018,49(1):108-115.
ZHANG Yanchao,CHEN Yang,LI Yijian,LIU Fei,HE Yong.Development of CAN-based Aerial Spraying Simulation System[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):108-115.
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基于CAN总线的旋翼无人机喷洒模拟系统   [下载全文]
Development of CAN-based Aerial Spraying Simulation System   [Download Pdf][in English]
投稿时间:2017-04-05  
DOI:10.6041/j.issn.1000-1298.2018.01.013
中文关键词:  无人机  喷洒  模拟测试平台  CAN总线
基金项目:浙江省科技重大专项(2015C02007)和国家重点研发计划项目(2016YFD0700304)
作者单位
张艳超 浙江大学 
陈杨 浙江大学 
李艺健 浙江大学 
刘飞 浙江大学 
何勇 浙江大学 
中文摘要:设计了一套高精度、高可控性的无人机喷洒模拟平台,并进行了试验验证。该系统机械部分采用直线导轨结合伺服电机,最大承载质量50kg,控制部分采用MFC设计上位机控制软件,与主控板STM32通过串口进行通讯,实现对水平和垂直2个方向上伺服电机的控制,同时采用CAN总线与喷洒控制器通讯和远程操控,可以实现喷洒流量控制以及旋翼风速控制。为评价系统运行精度,采用激光测距仪分别对系统在水平运动速度0.05、0.10、0.15、0.20m/s下和垂直运动速度0.01、0.02、0.03、0.04m/s下的控制距离进行距离测量,结果显示,垂直和水平方向上,控制参数与实际行程决定系数R2=1,水平与垂直重复精度优于2mm,系统控制精度高;采用振动测试仪对系统在0.05、0.10、0.15m/s运行速度下进行测试,通过分析振动数据,在不同运动速度下系统振动均不超过20m/s2,其中X向和Y向在运行中存在较为稳定的4~5m/s2的加速度,系统运行稳定。本系统可以有效降低喷洒试验载具成本,降低试验风险。
ZHANG Yanchao  CHEN Yang  LI Yijian  LIU Fei  HE Yong
Zhejiang University,Zhejiang University,Zhejiang University,Zhejiang University and Zhejiang University
Key Words:unmanned aerial vehicles  spraying  test simulation platform  CAN bus
Abstract:Agricultural spraying unmanned aerial vehicles (UAV) become a new hot spot in intelligent agricultural machinery field. It has a lot advantages over traditional spraying method like manual spraying and machine spraying. There is an urge need of UAV spraying technology. Meanwhile, since UAV onboard spraying takes a lot of time to prepare and is highly risky because for now there was a lack of customized flight controller for agriculture spraying. The development of an UAV aerial spraying simulation system was described. This system was developed for aerial spraying theory and methods test so as to shorten experiment cycle and motivate new spraying methods to be optimized. The system was designed and developed as a high precision, highly automated unmanned aerial vehicle (UAV) simulation platform to perform UAV indoor test. The system mechanical precision was maximum 2mm error for horizontal, maximum error 1mm for vertical, maximum load weight 50kg. MFC-based upper machine software was designed and it was communicated with the main control board to realize the horizontal and vertical directions movement. CAN bus was used for communication between main control board and the far end spraying unit controller. The far end spraying controller controlled spray flow control and rotor speed. This system can effectively reduce the spraying test vehicle costs, reduce the risk, and promote the UAV spraying technology development and testing. The system can be expanded to the agricultural plant protection spray test area in many places.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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