基于小型四旋翼无人机的大气环境参数获取系统研发

发布时间：2018-04-09 02:28

本文选题：大气环境污染　切入点：环境监测　出处：《石河子大学》2017年硕士论文

【摘要】：随着我国农村城镇化进程和农业经济的快速发展,农村大气环境污染问题日益严重。大气环境污染不仅会影响人类身体健康,造成农田水土资源污染,影响作物生长,甚至还严重威胁到粮食安全,制约着农村可持续发展。大气环境监测是大气环境污染防治工作的基础和保障,现有的监测技术主要以架设地面监测站和卫星遥感方式为主,对于地域广阔、环境复杂的农村地区,监测设施相对落后,往往存在监测成本较高、灵活度不高、效率低等不足。本文系统设计基于小型四旋翼无人机,开展了低成本大气环境参数测量系统的研究工作。首先,在飞行平台方面,完成了飞行器组成单元的设备选型、组装工作,并选取悬停状态下的四旋翼飞行器为研究对象,运用飞行器动力学、牛顿经典力学等理论完成数学模型的构建,提出了基于ITAE指标的带有前置滤波的PID优化控制算法,使用MATLAB Simulink进行了控制品质提高的仿真实验并结合真机完成了试飞验证;其次,从监测系统硬件和软件模块设计入手,选取了Arduino UNO作为处理器,采用DHT11、DSM501A、MQ-7、MG811传感器分别完成温湿度、颗粒物浓度、一氧化碳和二氧化碳数据获取工作,并采用Micro SD卡模块完成数据的读写、存储工作;然后,选择石河子大学东校区和石河子南开发区热电厂西侧200米处条田为实验区域,确定采集点(每个点持续采集5min,30s一个周期,共采集10个数据)完成采集实验;最后,针对采集仪获取的城市和农田监测点数据,运用格拉布斯准则完成了样本粗大误差数据的筛选剔除工作,通过收集整理环保部官网标准数据,使用最小二乘拟合方法实现了筛选后城市样本数据和官网数据的曲线拟合,利用皮尔逊积矩系数分析验证了相关性,根据拟合关系反演农田标准数据,进而采用层次分析法实现了农田及城市的环境质量等级评价。系统实验和软件仿真实验的结果表明:针对四旋翼飞行器系统,在输入为单位阶跃信号且扰动作用较小可忽略时,采用基于ITAE指标的带有前置滤波的PID控制算法后,系统稳态误差为0,调节时间ts1s,系统超调量控制在5%以内,满足误差带Δ=2%时系统的动态性能指标;系统采集的数据与官网数据拟合模型精度高,相关性均达到0.97,环境等级评级结果的准确性达到93.3%。经过软件仿真、实际测试、数据分析等工作,验证了采集系统的可靠性和数据的有效性,可为今后此类采集系统的设计提供一定的参考。
[Abstract]:With the rapid development of rural urbanization and agricultural economy, the problem of air pollution in rural areas is becoming more and more serious.Air pollution will not only affect the health of human beings, but also affect the soil and water resources pollution, crop growth, and even seriously threaten the food security, restricting the sustainable development of rural areas.Atmospheric environment monitoring is the basis and guarantee of the prevention and control of atmospheric environment pollution. The existing monitoring technology mainly consists of the erection of ground monitoring stations and satellite remote sensing, and the monitoring facilities are relatively backward in the rural areas with vast areas and complicated environment.There are many shortcomings such as high monitoring cost, low flexibility, low efficiency and so on.In this paper, a low-cost measurement system for atmospheric environment parameters is designed based on a small four-rotor UAV.First of all, in the aspect of flight platform, the equipment selection and assembly of the aircraft component unit are completed, and the four-rotor aircraft in hovering state is selected as the research object, and the dynamics of the vehicle is used.The mathematical model is constructed by Newton's classical mechanics theory, and a PID optimal control algorithm with prefilter based on ITAE index is proposed. The simulation experiment of improving control quality with MATLAB Simulink is carried out and the flight test is completed in combination with real machine.Starting with the hardware and software module design of the monitoring system, Arduino UNO is selected as the processor, and the temperature and humidity, particle concentration, carbon monoxide and carbon dioxide data acquisition are obtained by using the DHT11 / DSM501AX MQ-7MG811 sensor, respectively.The Micro SD card module is used to read, write and store the data. Then, selecting the 200m strip field in the east campus of Shihezi University and the west side of the thermal power plant in the south development zone of Shihezi as the experimental area, the collection point is determined (each point is continuously collected for 5 mins for a period of 30 s).Finally, the grabs criterion is used to complete the screening and culling of the gross error data of the samples, according to the data of urban and farmland monitoring points acquired by the collector.Through collecting and arranging the standard data of official website of the Ministry of Environmental Protection, the curve fitting of the selected city sample data and the official website data is realized by using the least square fitting method, and the correlation is verified by Pearson moment coefficient analysis.According to the fitting relation, the farmland standard data were retrieved, and then the environmental quality grade evaluation of farmland and city was realized by using the analytic hierarchy process (AHP).The results of system experiment and software simulation show that when the input signal is unit step signal and the disturbance is negligible, the PID control algorithm with prefilter based on ITAE index is adopted.The steady-state error of the system is 0, the adjusting time ts1s, the overshoot of the system is controlled within 5%, and the dynamic performance index of the system is satisfied with the error band 螖 = 2.The correlation reached 0.97, and the accuracy of environmental rating reached 93.3.The reliability of the acquisition system and the validity of the data are verified by software simulation, actual test and data analysis, which can provide a certain reference for the design of this kind of acquisition system in the future.
【学位授予单位】：石河子大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：X87

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