CAJ | 학술논문

圆形多轴多旋翼无人直升机与单轴单旋翼无人直升机相比，结构上有很大差异，因而其旋翼所产生气流到达作物冠层后形成的风场参数亦有所不同。该文采用3种圆形多轴多旋翼无人直升机，根据正交试验设计法设计了3因素（飞行高度、飞行速度以及飞机与负载质量）3水平的正交试验，通过考察平行于飞行方向（X）、垂直于飞行方向（Y）、垂直地面（Z）3个方向上的峰值风速、Y 向风场宽度（越宽越好）、动力电池的压降（放电越慢越好）3个指标，对该机型用于水稻制种辅助授粉的田间作业参数进行优选，试验结果分析表明：圆形多轴多旋翼无人直升机在水稻冠层形成的X向风场宽度明显大于Y向的风场宽度；有别于单旋翼无人直升机，圆形多轴多旋翼无人直升机X向风场只有1个峰值风速中心，Y向风场存在2个峰值风速中心，这一现象主要由飞行器多个旋翼的侧向气流叠加形成，相互之间存在干扰，而且也影响了Y向风场的有效宽度。在实际应用中，对于能实现GPS自主导航飞行的机型，应根据作业的便利程度尽量利用X向的风力，更有益于辅助授粉作业；而对于未采用GPS自主导航飞行的机型，为便于飞控手对飞机位置的判断与姿态操控而必须沿父本行方向进行飞行作业时（即利用Y向风力），应充分考虑垂直于飞行方向风场宽度较窄的实际情况，通过降低作业效率来弥补。圆形多轴多旋翼无人直升机在水稻冠层所形成风场的峰值风速主要受飞机的飞行速度、飞机与负载质量、飞行高度影响。结合有效风场宽度及电池电量消耗程度来考量，3种主要因素的主次排序及其较优水平依次为飞行速度1.30 m/s、飞机与负载质量18.85 kg和飞行高度2.40 m。该结果可为其他圆形多轴多旋翼无人直升机用于水稻制种辅助授粉的田间作业参数设置提供参考，而且也可为制定基于农用无人直升机的水稻制种辅助授粉作业技术规范提供依据。圓形多軸多鏇翼無人直升機與單軸單鏇翼無人直升機相比，結構上有很大差異，因而其鏇翼所產生氣流到達作物冠層後形成的風場參數亦有所不同。該文採用3種圓形多軸多鏇翼無人直升機，根據正交試驗設計法設計瞭3因素（飛行高度、飛行速度以及飛機與負載質量）3水平的正交試驗，通過攷察平行于飛行方嚮（X）、垂直于飛行方嚮（Y）、垂直地麵（Z）3箇方嚮上的峰值風速、Y 嚮風場寬度（越寬越好）、動力電池的壓降（放電越慢越好）3箇指標，對該機型用于水稻製種輔助授粉的田間作業參數進行優選，試驗結果分析錶明：圓形多軸多鏇翼無人直升機在水稻冠層形成的X嚮風場寬度明顯大于Y嚮的風場寬度；有彆于單鏇翼無人直升機，圓形多軸多鏇翼無人直升機X嚮風場隻有1箇峰值風速中心，Y嚮風場存在2箇峰值風速中心，這一現象主要由飛行器多箇鏇翼的側嚮氣流疊加形成，相互之間存在榦擾，而且也影響瞭Y嚮風場的有效寬度。在實際應用中，對于能實現GPS自主導航飛行的機型，應根據作業的便利程度儘量利用X嚮的風力，更有益于輔助授粉作業；而對于未採用GPS自主導航飛行的機型，為便于飛控手對飛機位置的判斷與姿態操控而必鬚沿父本行方嚮進行飛行作業時（即利用Y嚮風力），應充分攷慮垂直于飛行方嚮風場寬度較窄的實際情況，通過降低作業效率來瀰補。圓形多軸多鏇翼無人直升機在水稻冠層所形成風場的峰值風速主要受飛機的飛行速度、飛機與負載質量、飛行高度影響。結閤有效風場寬度及電池電量消耗程度來攷量，3種主要因素的主次排序及其較優水平依次為飛行速度1.30 m/s、飛機與負載質量18.85 kg和飛行高度2.40 m。該結果可為其他圓形多軸多鏇翼無人直升機用于水稻製種輔助授粉的田間作業參數設置提供參攷，而且也可為製定基于農用無人直升機的水稻製種輔助授粉作業技術規範提供依據。
원형다축다선익무인직승궤여단축단선익무인직승궤상비，결구상유흔대차이，인이기선익소산생기류도체작물관층후형성적풍장삼수역유소불동。해문채용3충원형다축다선익무인직승궤，근거정교시험설계법설계료3인소（비행고도、비행속도이급비궤여부재질량）3수평적정교시험，통과고찰평행우비행방향（X）、수직우비행방향（Y）、수직지면（Z）3개방향상적봉치풍속、Y 향풍장관도（월관월호）、동력전지적압강（방전월만월호）3개지표，대해궤형용우수도제충보조수분적전간작업삼수진행우선，시험결과분석표명：원형다축다선익무인직승궤재수도관층형성적X향풍장관도명현대우Y향적풍장관도；유별우단선익무인직승궤，원형다축다선익무인직승궤X향풍장지유1개봉치풍속중심，Y향풍장존재2개봉치풍속중심，저일현상주요유비행기다개선익적측향기류첩가형성，상호지간존재간우，이차야영향료Y향풍장적유효관도。재실제응용중，대우능실현GPS자주도항비행적궤형，응근거작업적편리정도진량이용X향적풍력，경유익우보조수분작업；이대우미채용GPS자주도항비행적궤형，위편우비공수대비궤위치적판단여자태조공이필수연부본행방향진행비행작업시（즉이용Y향풍력），응충분고필수직우비행방향풍장관도교착적실제정황，통과강저작업효솔래미보。원형다축다선익무인직승궤재수도관층소형성풍장적봉치풍속주요수비궤적비행속도、비궤여부재질량、비행고도영향。결합유효풍장관도급전지전량소모정도래고량，3충주요인소적주차배서급기교우수평의차위비행속도1.30 m/s、비궤여부재질량18.85 kg화비행고도2.40 m。해결과가위기타원형다축다선익무인직승궤용우수도제충보조수분적전간작업삼수설치제공삼고，이차야가위제정기우농용무인직승궤적수도제충보조수분작업기술규범제공의거。
Compare with uniaxial single-rotor electric unmanned helicopter (USREUH), the structure of round multi-axis multi-rotor electric unmanned helicopter (RMMEUH) is very different to USREUH, and thus its wind field parameters on rice canopy which formed by rotor airflow are also different. To explore the optimization parameters when the RMMEUH conducted supplementary pollination, in this study orthogonal tests of three factors (including flight operating load, altitude and speed) and three levels were carried out to measure the wind field. The tested RMMEUHs include two 8-rotors electric unmanned helicopters and an 18-rotors electric unmanned helicopter.The measured wind directions included parallel to the direction of flight heading (X), perpendicular to the direction of flight heading (Y), and the vertical direction (Z). The battery's voltage drop was also measured at each takeoff and landing of RMMEUH to estimate its economy. A wireless wind speed sensor network measurement system (WWSSN) was used to measure the wind field parameters of the RMMEUH. The WWSSN consists of several wireless wind speed sensors (WWSS, numbered 1#-10#), a flight global position system (FGPS), and an intelligent control focus node (ICFN). The WWSS was used to measure the wind field parameters on rice canopy. FGPS was used to measure the pose information of the RMMEUHs when they fly over the rice canopy. ICFN was used to control and record the wind field parameters. 1#-9# WWSSs were used to measure the wind field parameters which mixed with natural wind and RMMEUH produced wind. And another one, 10#, was set up far from 9#, was mainly used to measure the natural wind speed. In order to reduce the effect from natural wind speed, treatment rules about natural wind speed were adopted before wind field data analysis. The test results showed that: the width of the wind field atX direction was significantly wider thanY direction; Unlike USREUH, there were only one peak wind speed center atX direction of RMMEUH, while two atY direction, this phenomena might be caused by the superimposition of multiple rotors of RMMEUH, and the lateral flow of the aircraft was also one of the interferences, as a result, narrowed the width of the wind field atY direction. Comprehensively considered about the width of wind field and battery electricity consumption, the order of the three influence factors was flight speed, takeoff weight, and flight height. Flight speed of 1.30m/s, takeoff weight of 18.85 kg, and flight height of 2.40 m were suggested as the optimization of the operation parameters for supplementary pollination in hybrid rice breeding using RMMEUH. The results provide references to develop a series of specifications of supplementary pollination in hybrid rice breeding using unmanned helicopter.