搭载光谱遥感载荷的多旋翼无人机控制系统设计与试验

Abstract

As a new low -cost remote sensing platform, rotor UAV has been paid much attention by researchers and applications. Rotor UAV equipped with commercial remote sensing has many advantages, such as high ground resolution, quick response and easy maintenance, which make up for the shortcomings of traditional remote sensing, in practical use the anti-interference ability has become an important part of the remote sensing system of the rotor. In order to make up for the lack of conventional multi rotor torque heading control, firstly, six axis twelve -rotor UAV structure was designed and its dynamic model was established, then according to the anti disturbance capability of agricultural remote sensing platform requirements, the special algorithm of active disturbance rejection controller (ADRC) was designed with differential tracker, extended state observer and nonlinear state error feedback control law. Secondly, the stability and effectiveness of the controller was verified by simulation. The real wind disturbance test shows that the control algorithm maintains good trajectory tracking characteristics under the influence of instantaneous wind disturbance of 11.2 m/s. Finally, the UAV equipped with self -developed commercial high micro spectrometer MNS2001 and two axis stabilized in six axis twelve tilt rotor, fixed spectral remote sensing measurements in a particular area of rice over 300 -900 nm in the spectral range, spectral reflectance hovering over the region of multiple measurement relative error was less than 5%. The test results show that the rotor has a good platform for remote sensing stability and reliability can be further applied in the field of agricultural remote sensing and auxiliary production management. 2019, Editorial Board of Journal of Infrared and Laser Engineering. All right reserved.