基于复合模糊PID的植保无人机变量喷雾系统设计OA

In order to improve the accuracy of adjusting the spray rate of the existing plant protection UAV with the change of the flight speed and reduce the deviation of pesticide application,this paper designs a plant protection UAV variable spray system based on the compound fuzzy PID control algorithm.The system can adjust the spray flow in real time according to the PWM modulation based on the compound fuzzy PID control algorithm according to the speed of UAV.The response of the control algorithm to PID and fuzzy PID is compared with the test platform,and the response test of UAV spray flux with flight speed is carried out.The results show that the system response based on compound fuzzy PID control is 63.64%lower than PID overshoot and 23.08%shorter than fuzzy PID regulation time.The steady-state error of compound fuzzy PID and fuzzy PID is controlled within 3.125%,which is less than 4.688%of PID;the average deviation of spray flow rate of spray system is 2.67%,3.85%and 1.90%respectively based on PID,fuzzy PID and compound fuzzy PID.Based on the compound fuzzy PID algorithm,the maximum deviation of the spray system fol-lowing the rapid change is 6.29%,which meets the requirements of pesticide application for plant protection UAV.It can provide a reference for the design of agricultural aviation precise variable spray system.