A UAV precision spray control system and control method

Abstract

The invention relates to the technical field of plant protection UAV plant protection operations, and discloses a UAV precision spray control system and control method. The control system includes: a data detection module and a parameter adjustment module, which are used to adjust the spray flow rate according to the real-time spray flow rate and the target spray flow rate. The deviation is used to train the single-neuron neural network to obtain the proportional control coefficient K of the incremental PID control algorithm p , Integral control coefficient K i and differential control coefficient K d , single-neuron neural network through Hebb learning rules for K p 、K i and K d Adjust, the incremental PID control algorithm according to the adjusted K p 、K i and K d The PWM adjustment duty ratio is obtained from the flow deviation; the spray control module is used to convert the PWM adjustment duty ratio into the control voltage of the diaphragm pump, thereby controlling the real-time spray flow rate. This UAV precision spray control system and control method , accurately and efficiently adjust the spray flow rate, and can adjust parameters to adapt to changes in the external environment, greatly improving the anti-interference ability of the system.

Description

A kind of UAV precise spray control system and control method technical field The present invention relates to the technical field of plant protection unmanned aerial vehicle (UAV) plant protection operation, particularly to a kind of UAV precise spray control system systems and control methods. Background technique [0002] At present, pesticide-based chemical control methods are widely used in China's agricultural production management. However, due to preventive The relative backwardness of technology has led to the excessive use of pesticides and the low utilization rate, which has seriously affected China's food security and long-term agricultural development. exhibition concept. In recent years, drone technology has developed rapidly and has been widely used in the agricultural field. Numerous studies have shown that The field operation efficiency of plant protection drones is much higher than that of traditional manual operations, and compared with large-scal...

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Problems solved by technology

[0003] Most of the existing spray control systems are applied to ground spray equipment, and the control algorithms used are relatively simple, which cannot meet the real-time and stability requirements of UAV operations.

In addition, when the current plant protection drones are spraying, due to frequent and high-speed changes in pressure, the particle size and distribution of droplets will change significantly, affecting the actual spray effect, and some of them change the concentration formula during the operation. The structure of the control system is complex, and there is a response delay problem between the system issuing an instruction and the completion of the concentration change, which is not conducive to the high-speed operation state of the UAV, and the control accuracy needs to be further optimized

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