Model and design of real-time control system for aerial variable spray

The dosage sprayed upon per unit area is an important index to measure the effects of pesti-cide application.Owing to the fact that parameters such as flight height, flight speed, andspray swath can change at any given time, it is impossible to ensure a consistent amount ofpesticide application per unit area during the course of aerial variable spray. In order toensure a consistent amount of pesticide application per unit area, a set of control models ofaerial variable spray using an unmanned aerial vehicle(UAV) was proposed,and the corre-sponding control system was developed based on the technology of aerial variable spray.According to the change of flight parameters, this system was able to adjust the openingdegree of solenoid valve through the control model of aerial variable spray.

单位面积喷施剂量是衡量农药施用效果的重要指标。由于飞行高度、飞行速度及喷幅等参数在作业过程中会实时变化，航空变量喷施（aerial variable spray）作业难以保证单位面积农药施用量的一致性。为保障单位面积农药施用量的一致性，本研究提出了一套无人机（Unmanned Aerial Vehicle, UAV）航空变量喷施控制模型，并基于航空变量喷施技术开发了对应的控制系统。该系统可根据飞行参数的变化，通过航空变量喷施控制模型调节电磁阀（solenoid valve）的开度。