PDF(Pubmed)
Abstract：
The unmanned aerial vehicle(UAV) used in agricultural fields usually has a load, which affects stability of flight trajectory. This problem is a great technical challenge and critical issue which has fascinated many researchers in this area. This research paper presents a flight dynamics model for agricultural UAV under load condition. The robust T-S fuzzy control method is applied in the attitude angle control part, and the traditional PID controller is used in the position loop control part. Results of simulation depict that the flight trajectory of agricultural UAV can reach certain stability when the load is relatively small.
摘要：
用于农业领域的无人机(UAV)通常具有负载,影响飞行轨迹的稳定性。这个问题是一个巨大的技术挑战和关键问题，吸引了该领域的许多研究人员。本文提出了一种农用无人机在负载条件下的飞行动力学模型。将鲁棒T-S模糊控制方法应用于姿态角控制部分,位置闭环控制部分采用传统的PID控制器。仿真结果表明,当载荷较小时,农用无人机的飞行轨迹可以达到一定的稳定性。
