CN107264804A - A kind of unmanned vehicle variable rate spray control device and method based on GPS - Google Patents
A kind of unmanned vehicle variable rate spray control device and method based on GPS Download PDFInfo
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- CN107264804A CN107264804A CN201710333510.4A CN201710333510A CN107264804A CN 107264804 A CN107264804 A CN 107264804A CN 201710333510 A CN201710333510 A CN 201710333510A CN 107264804 A CN107264804 A CN 107264804A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned vehicle variable rate spray control device based on GPS and method, device includes flight subsystem, sensing acquisition subsystem, flow-control subsystem and power module, sensing acquisition subsystem is connected with flight subsystem and flow-control subsystem respectively, and power module is respectively that flight subsystem, sensing acquisition subsystem, flow-control subsystem are powered；Method refers to the flow value corresponding to flying speed by the PID control strategy for integrating separation as set-point, then exports corresponding pwm signal change barrier film revolution speed by single-chip microcomputer, so as to realize the change of flow；The PID control strategy refers to the flow that shower nozzle is detected with flow sensor, constantly comparison procedure variable and setting value, constantly the flow of correction and controlling pump, to improve control accuracy.The present invention realizes the control that flow changes with velocity variations using PWM technologies regulation membrane pump, and formation efficiency is high, the intelligent variable rate spray control system that stability is good, cost is low.
Description
Technical field
The present invention relates to the research field of agricultural aviation equipment for plant protection equipment, variable rate application, more particularly to a kind of base
In GPS unmanned vehicle variable rate spray control device and method.
Background technology
Variable rate spray is a kind of important way for realizing agricultural aviation field accuracy pesticide applying technology.Variable rate spray technology can root
Discharge rate is automatically adjusted according to operating speed, cropping intensity and damage level, agricultural chemicals is both saved, the agricultural chemicals that can be reduced in agricultural product again is residual
Stay and environmental pollution, be the important development direction of pesticide application technology.Variable rate spray dispenser can be by becoming spray time, becoming spraying pressure
Power and change 3 kinds of approach of liquor strength are realized.PWM technologies regulation water pump realizes that flow control is a kind of change spray time method, phase
For other variable rate spray technologies, it realizes simplicity, influences smaller to spray particle diameter, therefore apply relatively broad.
Domestic and foreign scholars have researched and developed many variable farm chemical applying systems, and such as control decoction mixing ratio changes liquor strength and realized
Variable farm chemical applying, but there is concentration latency issue, system complex, the dispenser dosage amplitude of accommodation is small.Separately have based on GIS-Geographic Information System
Automatic target detection variable rate spray control device, the discharge rate of each shower nozzle of variable-rate spraying equipment needs control centre at variable rate spray
Under the guidance of square figure, according to ground moving load equipment position, speed, spraying system flow and pressure, utilize servo
Valve is controlled, but compared with unmanned plane is sprayed, and it is relatively low that ground moving loads equipment nebulization efficiency, and can leave rut print and damage agriculture
Crop.
In recent years, with the fast development of modern agriculture and new and high technology, variable rate spray technology mainly have based on infrared ray,
The variable rate spray mode such as ultrasonic wave, machine vision and laser radar, although these modes are advanced technology, but are due to that process is answered
Miscellaneous, operation is difficult, it is difficult to obtain good spray effect in actual applications.Variable rate spray system based on GPS, due to GPS
The features such as module precision height, good stability, low cost and general applicability, makes it be able in the application of agricultural aviation variable rate spray
Consider, change pulse number per second and pulse width to adjust flow by improved PWM algorithm, it is with the obvious advantage.
The content of the invention
It is a primary object of the present invention to overcome the shortcoming and deficiency of prior art to fly there is provided a kind of nobody based on GPS
The control device and method of row device variable rate spray, unmanned plane and variable rate spray system are organically combined, nothing is measured by GPS module
The flying speed of people's aircraft, realizes the control that flow changes with velocity variations using PWM technologies regulation membrane pump, forms effect
Rate is high, the intelligent variable rate spray control system that stability is good, cost is low.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of unmanned vehicle variable rate spray control device based on GPS, flight subsystem, biography
Feel acquisition subsystem, flow-control subsystem and power module, the sensing acquisition subsystem respectively with flight subsystem
With flow-control subsystem connection, the power module is respectively flight subsystem, sensing acquisition subsystem, flow control
Subsystem is powered；
The flight subsystem, for controlling aircraft with appropriate posture, speed and altitude；
The sensing acquisition subsystem, flying speed, the height parameter of unmanned vehicle are obtained by GPS module in real time,
Obtain the medicinal liquid flow for flowing through shower nozzle in real time by flow sensor module, liquid level in medicine-chest is obtained by liquid level sensor module
Highly；
The flow-control subsystem, it is real for controlling medicinal liquid flow to change with unmanned vehicle speed, Level Change
Now measure the stable flow control of accurate, change stabilization, spraying swath；
The flight subsystem includes master controller, power sub-system, Remote communication subsystem and flight number
According to recording subsystem, the master controller and power sub-system, Remote communication subsystem and flight data recording subsystem
Connection, the subsystem includes inertial posture measuring device and digital rudder controller, the inertial posture measuring device, for reality
When measure the attitude information of aircraft, be conveniently adjusted flight attitude, the telecommunication control subsystem is controlled in nothing with ground
Line is communicated, the ground control station, and posture, speed and the height of unmanned vehicle are adjusted for operator；
The sensing acquisition subsystem includes GPS module, flow sensor module, liquid level sensor module, and each module is equal
Electrically it is connected with carry in unmanned vehicle last time controller, and analog signal is changed into by digital letter by signal conditioning circuit
Number it is uploaded to secondary control device；
The flow-control subsystem includes secondary control device, medicine-chest, membrane pump and shower nozzle, wherein medicine-chest, membrane pump, flow
Sensor and shower nozzle are physically linked in sequence successively using water pipe, and membrane pump is electrically connected with secondary control device.
As preferred technical scheme, the secondary control device independently of flight subsystem master controller, for passing
Feel the data acquisition of acquisition subsystem, the flow control of flow-control subsystem and liquid level warning prompting.
As preferred technical scheme, the master controller is arranged in flight subsystem, handles position of aircraft
Information, the parameter of attitude information, control aircraft stabilized flight.
It is used as preferred technical scheme, the power sub-system, for driving propeller and controlling the driving of steering wheel, in electricity
Power sub-system includes power supply subsystem in dynamic unmanned plane；Power sub-system and power supply subsystem are independent in fuel oil unmanned plane；
The Remote communication subsystem, including wireless module, are communicated for aircraft with ground control station；
The flight data recording subsystem, for longitude and latitude parameter, speed ginseng in real-time record-setting flight device flight course
Number, altitude parameters and sprinkling flow parameter, and deposited data into SD card by file system.
As preferred technical scheme, the GPS module obtains flying speed, the altitude information of unmanned vehicle in real time；
The flow sensor module, physically connects membrane pump and centrifugation respectively by water pipe by entery and delivery port
Atomizer, is electrically connected with secondary control device, and the triggering outgoing event of selection secondary control device timer starts ADC conversions, ADC
Continuous translative mode is selected, the sampling number of setting is completed in the timer preset time, gives up maximum and minimum value, is led to
Cross sum-average arithmetic and calculate current ADC conversion values；
The liquid level sensor module, physically connects secondary control device on medicine-chest bottom, electrical characteristic, uses
Warning system is uploaded in the collection of liquid level information in medicine-chest, and by information.
As preferred technical scheme, the flow-control subsystem include secondary control device, medicine-chest, PWM control modules, every
Membrane pump and centrifugal sprinkler；
The medicine-chest capacity is about 5L, and carry is in the underface of unmanned vehicle, the surface of membrane pump, delivery port with every
Membrane pump water inlet is connected；
The membrane pump is used to provide decoction spouting pressure, and using 12V supply voltages spraying water pump, maximum stream flow is
4.5L/min, delivery port connects two flow sensor modules respectively through two part flow arrangements, then be connected to installed in spray boom end from
Heart atomizer；
The PWM control modules use high-power MOS trigger switch drive module, for PWM duty cycle signal to be converted
Into membrane pump drive voltage signal.
Present invention also offers a kind of control method of the unmanned vehicle variable rate spray control device based on GPS, including
Following step：
(1) secondary control device obtains unmanned plane during flying speed and height value that GPS module uploads controller ROM by serial ports；
(2) secondary control device exports friction speed value duty ratio corresponding in the range of specified altitude according to traffic control rule
Step pwm control signal；Altitude range is limited to 1~3m, and unmanned vehicle velocity interval is 0~5m/s, and duty cycle range 0~
100%；
(3) step pwm signal becomes voltage signal through PWM control modules and is transferred to membrane pump, so as to control membrane pump to turn
The change of speed, and produce different pressure decoction is delivered to flow sensor module；
(4) flow sensor module obtains real-time traffic data by ADC samplings and feeds back to secondary control device, passes through integration
The pid control algorithm of separation constantly corrects deviation, realizes accuracy pesticide applying；Mist flow scope is 0~4.5L/min；
(5) decoction is delivered to centrifugal atomizing nozzle through flow sensor module so that mist droplet particle size is uniform in size, and spraying swath is steady
It is fixed.
As preferred technical scheme, in step (2), the step pwm signal refers to the PID controls using integration separation
Algorithm processed avoids infringement of the frequent starting of unmanned plane motor in variable rate spray operation to motor.
As preferred technical scheme, in step (4), the pid control algorithm of the integration separation, its realization is as follows：
Being write Position Form PID formula as integration unpack format is：
In formula,
K is sampling sequence number, k=0,1,2,3 ...；
U (k) is the computer export value of kth time sampling instant；
E (k) is the deviation of kth time sampling instant input；
E (k-1) is the deviation of (k-1) secondary sampling instant input；
KPFor proportionality constant；
KIFor integral constant,
KDFor derivative constant,
(1) threshold values ε is set according to actual conditions>0；
(2) when error | e (k) | during ＞ ε threshold values, using PD control, now without integral term, in order to improve control accuracy,
PD control algorithm uses position model：
U (k)=KPe(k)+KD[e(k)-e(k-1)]
=A ' e (k)+B ' e (k-1)=A ' e (k)+f (k-1)
In formula：
F (k-1)=B ' e (k-1)
(3) as | e (k) | during≤ε, using PID control, in order to reduce secondary control device operand, carry out incremental timestamp
Algorithm, i.e.,：
U (k)-u (k-1)=Ae (k)-Be (k-1)+Ce (k-2)
U (k) u (k-1)=Ae (k)+u (k-1)-Be (k-1)+Ce (k-2)
=Ae (k)+g (k-1)
In formula：
G (k-1)=u (k-1)-Be (k-1)+Ce (k-2).
As preferred technical scheme, the traffic control rule refers to when the flying speed increase of unmanned vehicle, single
Position time internal spraying amount also increases therewith, otherwise unit interval internal spraying amount reduces, when unmanned vehicle flying speed is zero,
Stop spraying.Spray amount in the flying speed and unit interval of unmanned vehicle can be expressed as
In formula：Q is capacity of sprinkler (L/min)
Q is pesticide application amount (L/m2)
V is the flying speed of unmanned plane
D is spraying swath (m).
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, present invention introduces the integral separation PID controling algorithm with flow feedback, flow control stability is good, robustness
By force, fast response time, it is to avoid infringement of the frequent starting of unmanned vehicle motor in variable rate spray operation to motor.
2nd, present invention introduces unmanned vehicle as carrier, compared with ground spraying carrier, efficiency is higher, will not leave behind rut
Print and damage crops.
3rd, present invention introduces dual controller, wherein master controller be used for fly control, secondary control device be used for information gathering and
Flow is controlled, and the division of labor is clear and definite, and spraying system is not limited by unmanned vehicle model, portable strong.
4th, present invention introduces precision is high, stability is good, cost is low and is applicable universal GPS module, there is the present invention good
Good replicability.
Brief description of the drawings
Fig. 1 the structural representation of present invention；
Fig. 2 operation principle schematic diagrams of the present invention；
The circuit electrical structure chart of Fig. 3 present invention；
The PID control schematic diagram of Fig. 4 present invention；
Wherein, 1-GPS module, 2-flow sensor module, 3-liquid level sensor module, 4-medicine-chest, 5-PWM controls
Molding block, 6-membrane pump, 7-centrifugal sprinkler, 8-warning system, 9-ground control station.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment
As shown in figure 1, in the present embodiment, operator by ground control station control unmanned vehicle operating area away from
From the altitude of 1~3m at the top of crop.Sprayer unit obtains the flying speed and feeding of unmanned vehicle by GPS module 1
Primary and secondary controller is handled, and secondary control device exports the pwm control signal of different duty, this signal according to friction speed value
PWM control modules are transferred to, PWM duty cycle signal is converted into corresponding membrane pump input voltage signal by PWM control modules, from
And control the rotating speed of membrane pump 6 to change to provide the atomisation pressure of change, decoction is finally delivered to centrifugal atomizing nozzle, realized
Variable rate spray.Period, flow value of the detection through shower nozzle feeds back to single-chip microcomputer to flow sensor in real time, is calculated by integral separating PID
Method constantly corrects deviation, reaches the purpose of accuracy pesticide applying.The speed of unmanned vehicle, height, longitude and latitude, flow in the course of work
And the data such as liquid level are deposited to SD card by file system.
As shown in Figure 2,3, in the present embodiment, a kind of unmanned vehicle variable rate spray control device based on GPS, including
Sensing acquisition subsystem, flow-control subsystem and flight subsystem；The sensing acquisition system includes GPS module 1, stream
Quantity sensor module 2 and liquid level sensor module 3, each module are connected with carry in unmanned vehicle last time controller；It is described
Secondary control device refer to independently of flight control master controller control unit, be only used for sensor data acquisition, flow control and
Liquid level warning prompting etc.；The flow-control subsystem includes secondary control device, PWM control modules, medicine-chest 4, membrane pump 6 and centrifugation
Formula shower nozzle 7, wherein medicine-chest, membrane pump, flow sensor module and centrifugal sprinkler are linked in sequence successively using water pipe, PWM controls
Molding block 5 and membrane pump are electrically connected with secondary control device.The flight subsystem respectively with power sub-system, long-range distant
Control communication subsystem, flight data recording subsystem.
The secondary control device refers to the control unit independently of flight control master controller, is only used for sensing acquisition subsystem
Data acquisition, flow-control subsystem flow control and liquid level warning prompting etc., entered in the present embodiment by warning system 8
Row alarm, the warning system includes buzzer and the alarm of LED two ways；
The master controller, for being only used for flight subsystem, processing Aircraft position information, attitude information etc. is joined
Number, controls aircraft stabilized flight；
The flight subsystem, for controlling aircraft with appropriate posture, speed and altitude；
The power sub-system, for driving propeller and control steering wheel, includes power supply subsystem in electronic unmanned plane；
Power sub-system and power supply subsystem are independent in fuel oil unmanned plane.
The Remote communication subsystem, is communicated for aircraft with ground control station, and communication feature is low speed
Rate, long range, high reliability；
The flight data recording subsystem, for longitude and latitude parameter, speed ginseng in real-time record-setting flight device flight course
Number, altitude parameters and sprinkling flow parameter, and deposited data into SD card by file system；
The flight subsystem include ground control station, master controller, GPS module, inertial posture measuring device and
Digital rudder controller；
The ground control station 9, posture, speed and height of unmanned vehicle etc. are adjusted for operator；
The GPS module refers to standard criterion of the GPS according to NMEA-0183 agreements, by the position of unmanned vehicle
Put, speed and height etc. information primary and secondary controller is sent to by serial ports；
The communication sentence of the NMEA-0183 agreements defined has all been the NMEA-0183 agreements based on ASCII character
The data format of sentence is as follows：" $ " is sentence beginning flag；", " is field delimiter；" * " is to verify and identifier, behind
Double figures is to verify and represent the step-by-step XOR value of all characters between " $ " and " * " (not including the two characters)；"/" is
Full stop, all sentences must be terminated with this；
The inertial posture measuring device, the attitude information for measuring aircraft in real time, is conveniently adjusted flight attitude；
The sensing acquisition system refers to obtain the ginseng such as flying speed, height of unmanned vehicle in real time by GPS module 1
Number, the medicinal liquid flow for flowing through shower nozzle is obtained by flow sensor module in real time, is obtained by liquid level sensor module in medicine-chest
Liquid level；
The flow sensor module 2, physically connects membrane pump and centrifugation respectively by water pipe by entery and delivery port
Atomizer, is electrically connected with secondary control device, and the triggering outgoing event of selection secondary control device timer starts ADC conversions, ADC
Continuous translative mode is selected, 52 samplings are completed in the timer preset time, give up maximum and minimum value, pass through summation
Average computation goes out current ADC conversion values.The noise jamming present in digital quantity after in view of being changed through ADC, using software
Method is filtered processing.The system employs weighted average filtering algorithm on the basis of arithmetic mean of instantaneous value, to ensure to survey
Measure the accuracy of result；
The liquid level sensor module 3, physically connects secondary control device on medicine-chest bottom, electrical characteristic,
Gathered for liquid level information in medicine-chest, and information is uploaded to warning system；
The warning system 8 includes LED and buzzer, along with LED flicker and the police of buzzer during alarm triggering
Report sound；
The flow-control subsystem is used to control flow with unmanned vehicle speed, Level Change to change, realization amount
Precisely, the stable flow control of stable, spraying swath is changed.
The flow-control subsystem includes secondary control device, medicine-chest, PWM control modules, membrane pump and centrifugal sprinkler；
The medicine-chest capacity is about 5L, and carry is in the underface of unmanned vehicle, the surface of membrane pump, delivery port with every
Membrane pump water inlet is connected；
The membrane pump is used to provide decoction spouting pressure, and using 12V supply voltages spraying water pump, maximum stream flow is
4.5L/min, delivery port connects two flow sensor modules respectively through two part flow arrangements, then be connected to installed in spray boom end from
Heart atomizer；
The PWM control modules use high-power MOS trigger switch drive module, for PWM duty cycle signal to be converted
Into membrane pump drive voltage signal；
In the present embodiment, the control method of the unmanned vehicle variable rate spray based on GPS, comprises the following steps：
(1) secondary control device obtains unmanned plane during flying speed and height value that GPS module uploads controller ROM by serial ports；
(2) secondary control device exports friction speed value duty ratio corresponding in the range of specified altitude according to traffic control rule
Step pwm control signal；Altitude range is limited to 1~3m, and unmanned vehicle velocity interval is 0~5m/s, and duty cycle range 0~
100%；
(3) step pwm signal becomes voltage signal through PWM control modules and is transferred to membrane pump, so as to control membrane pump to turn
The change of speed, and produce different pressure decoction is delivered to flow sensor module.
(4) flow sensor module obtains real-time traffic data by ADC samplings and feeds back to secondary control device, passes through PID
Algorithm constantly corrects deviation, realizes accuracy pesticide applying；Mist flow scope is 0~4.5L/min；
(5) decoction is delivered to centrifugal atomizing nozzle through flow sensor module so that mist droplet particle size is uniform in size, and spraying swath is steady
It is fixed.
It is preferred that, the step pwm signal refers to avoid unmanned plane in variable using the pid control algorithm of integration separation
Infringement of the frequent starting of motor to motor during spraying operation；
As shown in figure 4, in the present embodiment, the pid control algorithm of the integration separation, its realization is as follows：
(1) threshold values ε is set according to actual conditions；
(2) as error e (t) ＞ ε, using PD control, excessive overshoot can be avoided, having makes system have faster response；
(3) as error e (t)≤ε, using PID control, it is ensured that the control accuracy of system；
The traffic control rule refers to when the flying speed increase of unmanned vehicle, and unit interval internal spraying amount is also therewith
Increase, otherwise unit interval internal spraying amount reduces, when unmanned vehicle flying speed is zero, stops spraying.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of unmanned vehicle variable rate spray control device based on GPS, it is characterised in that flight subsystem, sensing
Acquisition subsystem, flow-control subsystem and power module, the sensing acquisition subsystem respectively with flight subsystem and
Flow-control subsystem is connected, and the power module is respectively flight subsystem, sensing acquisition subsystem, flow control
System power supply；
The flight subsystem, for controlling aircraft with appropriate posture, speed and altitude；
The sensing acquisition subsystem, flying speed, the height parameter of unmanned vehicle are obtained by GPS module, is passed through in real time
Flow sensor module obtains the medicinal liquid flow for flowing through shower nozzle in real time, and it is high to obtain liquid level in medicine-chest by liquid level sensor module
Degree；
The flow-control subsystem, for controlling medicinal liquid flow to change, realization amount with unmanned vehicle speed, Level Change
Precisely, the stable flow control of stable, spraying swath is changed；
The flight subsystem includes master controller, power sub-system, Remote communication subsystem and flying quality note
Subsystem is recorded, the master controller is connected with power sub-system, Remote communication subsystem and flight data recording subsystem,
The subsystem includes inertial posture measuring device and digital rudder controller, the inertial posture measuring device, for surveying in real time
The attitude information of aircraft is measured, flight attitude is conveniently adjusted, the telecommunication control subsystem is controlled in channel radio with ground
Letter, the ground control station adjusts posture, speed and the height of unmanned vehicle for operator；
The sensing acquisition subsystem includes GPS module, flow sensor module, liquid level sensor module, and each module is electric
It is upper to be connected with carry in unmanned vehicle last time controller, and analog signal is changed into data signal by signal conditioning circuit
Reach secondary control device；
The flow-control subsystem includes secondary control device, medicine-chest, membrane pump and shower nozzle, wherein medicine-chest, membrane pump, flow sensing
Device and shower nozzle are physically linked in sequence successively using water pipe, and membrane pump is electrically connected with secondary control device.
2. a kind of unmanned vehicle variable rate spray control device based on GPS according to claim 1, it is characterised in that institute
Master controller of the secondary control device independently of flight subsystem is stated, data acquisition, flow control for sensing acquisition subsystem
The flow control and liquid level warning prompting of subsystem.
3. a kind of unmanned vehicle variable rate spray control device based on GPS according to claim 1, it is characterised in that institute
Master controller is stated, is arranged in flight subsystem, processing Aircraft position information, the parameter of attitude information, control flight
Device stabilized flight.
4. a kind of unmanned vehicle variable rate spray control device based on GPS according to claim 1, it is characterised in that institute
Power sub-system is stated, for driving propeller and controlling the driving of steering wheel, power sub-system includes power supply in electronic unmanned plane
Subsystem；Power sub-system and power supply subsystem are independent in fuel oil unmanned plane；
The Remote communication subsystem, including wireless module, are communicated for aircraft with ground control station；
The flight data recording subsystem, for longitude and latitude parameter, speed parameter, sea in real-time record-setting flight device flight course
Parameter and sprinkling flow parameter are pulled out, and is deposited data into SD card by file system.
5. a kind of unmanned vehicle variable rate spray control device based on GPS according to claim 1, it is characterised in that institute
GPS module is stated, flying speed, the altitude information of unmanned vehicle are obtained in real time；
The flow sensor module, physically connects membrane pump and centrifugal atomizing respectively by water pipe by entery and delivery port
Shower nozzle, is electrically connected with secondary control device, and the triggering outgoing event of selection secondary control device timer starts ADC conversions, ADC selections
Continuous translative mode, the sampling number of setting is completed in the timer preset time, gives up maximum and minimum value, by asking
Averagely calculate current ADC conversion values；
The liquid level sensor module, physically connects secondary control device, for medicine on medicine-chest bottom, electrical characteristic
The collection of liquid level information in case, and information is uploaded to warning system.
6. a kind of unmanned vehicle variable rate spray control device based on GPS according to claim 1, it is characterised in that institute
Stating flow-control subsystem includes secondary control device, medicine-chest, PWM control modules, membrane pump and centrifugal sprinkler；
The medicine-chest capacity is about 5L, and carry is in the underface of unmanned vehicle, the surface of membrane pump, delivery port and membrane pump
Water inlet is connected；
The membrane pump is used to provide decoction spouting pressure, and using 12V supply voltages spraying water pump, maximum stream flow is 4.5L/
Min, delivery port connects two flow sensor modules respectively through two part flow arrangements, then is connected to the centrifugal atomizing installed in spray boom end
Shower nozzle；
The PWM control modules use high-power MOS trigger switch drive module, for by PWM duty cycle signal change into every
Membrane pump drive voltage signal.
7. a kind of control method of the unmanned vehicle variable rate spray control device based on GPS, it is characterised in that including following steps
Suddenly：
(1) secondary control device obtains unmanned plane during flying speed and height value that GPS module uploads controller ROM by serial ports；
(2) secondary control device exports the step of friction speed value duty ratio corresponding in the range of specified altitude according to traffic control rule
Pwm control signal；Altitude range is limited to 1~3m, and unmanned vehicle velocity interval is 0~5m/s, and duty cycle range 0~
100%；
(3) step pwm signal becomes voltage signal through PWM control modules and is transferred to membrane pump, so as to control barrier film revolution speed
Change, and produce different pressure and decoction is delivered to flow sensor module；
(4) flow sensor module obtains real-time traffic data by ADC samplings and feeds back to secondary control device, is separated by integrating
Pid control algorithm constantly correct deviation, realize accuracy pesticide applying；Mist flow scope is 0~4.5L/min；
(5) decoction is delivered to centrifugal atomizing nozzle through flow sensor module so that mist droplet particle size is uniform in size, and spraying swath is stable.
8. the control method of the unmanned vehicle variable rate spray according to claim 7 based on GPS, it is characterised in that step
Suddenly in (2), the step pwm signal refers to avoid unmanned plane in variable rate spray operation using the pid control algorithm of integration separation
When motor infringement of the frequent starting to motor.
9. the control method of the unmanned vehicle variable rate spray according to claim 7 based on GPS, it is characterised in that step
Suddenly in (4), the pid control algorithm of the integration separation, its realization is as follows：
Being write Position Form PID formula as integration unpack format is：
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<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
In formula,
K is sampling sequence number, k=0,1,2,3 ...；
U (k) is the computer export value of kth time sampling instant；
E (k) is the deviation of kth time sampling instant input；
E (k-1) is the deviation of (k-1) secondary sampling instant input；
KPFor proportionality constant；
KIFor integral constant,
KDFor derivative constant,
(1) threshold values ε is set according to actual conditions>0；
(2) when error | e (k) | during ＞ ε threshold values, using PD control, now without integral term, in order to improve control accuracy, PD controls
Algorithm processed uses position model：
U (k)=KPe(k)+KD[e(k)-e(k-1)]
=A ' e (k)+B ' e (k-1)=A ' e (k)+f (k-1)
In formula：
<mrow>
<msup>
<mi>B</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<msub>
<mi>K</mi>
<mi>P</mi>
</msub>
<mfrac>
<msub>
<mi>T</mi>
<mi>D</mi>
</msub>
<mi>T</mi>
</mfrac>
</mrow>
F (k-1)=B ' e (k-1)
(3) as | e (k) | during≤ε, using PID control, in order to reduce secondary control device operand, carry out incremental timestamp calculation
Method, i.e.,：
U (k)-u (k-1)=Ae (k)-Be (k-1)+Ce (k-2)
U (k) u (k-1)=Ae (k)+u (k-1)-Be (k-1)+Ce (k-2)
=Ae (k)+g (k-1)
In formula：
<mrow>
<mi>B</mi>
<mo>=</mo>
<msub>
<mi>K</mi>
<mi>P</mi>
</msub>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<mn>2</mn>
<mfrac>
<msub>
<mi>T</mi>
<mi>D</mi>
</msub>
<mi>T</mi>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>C</mi>
<mo>=</mo>
<msub>
<mi>K</mi>
<mi>P</mi>
</msub>
<mfrac>
<msub>
<mi>T</mi>
<mi>D</mi>
</msub>
<mi>T</mi>
</mfrac>
</mrow>
G (k-1)=u (k-1)-Be (k-1)+Ce (k-2).
10. the control method of the unmanned vehicle variable rate spray according to claim 7 based on GPS, it is characterised in that institute
State traffic control rule to refer to when the flying speed increase of unmanned vehicle, unit interval internal spraying amount also increases therewith, on the contrary
Unit interval internal spraying amount reduces, when unmanned vehicle flying speed is zero, stops spraying.The flying speed of unmanned vehicle
It can be expressed as with the spray amount in the unit interval
<mrow>
<mi>q</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>Q</mi>
<mi>v</mi>
<mi>d</mi>
</mrow>
<mn>60</mn>
</mfrac>
</mrow>
In formula：Q is capacity of sprinkler (L/min)
Q is pesticide application amount (L/m2)
V is the flying speed of unmanned plane
D is spraying swath (m).
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