四旋翼农业无人机模块化设计及有限元分析

doi:10.13733/j.jcam.issn.2095-5553.2024.05.032

摘要/Abstract

摘要： 为进一步提高四旋翼农业无人机的升级、装配和维修效率，拓展农业无人机的应用范围，提出一种针对农业无人机的模块化设计方法。首先，综合分析四旋翼农业无人机中任意零件间在连接固定、功能和几何参数层面的相关关系，构建零件关系图，将相关性强的零件聚类成部件，并计算部件在各层面的相关性矩阵。其次，利用AHP赋予各层面不同权值，计算部件间综合强度相关性矩阵，依据模块评判原则合并部件。最后，建立模块结构，根据作业需求组合相应模块，并对关键功能模块进行静动态特性分析。研究结果表明：该模块化设计方法将28个无人机零件简化为6个独立的模块；无人机更新换代时，只需对相应发生改变的模块进行重新设计制造；模块的独立性简化装配的工艺流程，降低维修成本；6个模块可以组合成喷洒无人机或播撒无人机，使无人机不仅适用于农药的喷洒，也适用于种子和肥料的撒播；通过对中央舱模块的有限元分析，其最大应力为23.889 MPa，远小于碳纤维最大抗拉强度4 780 MPa，前四阶固有频率都大于无人机工作时最高频率32.75 Hz，以及其最大形变量为0.004 635 9 mm，满足无人机极限工况下的形变要求。

关键词: 农业无人机, 模块化方法, 四旋翼, 相关性矩阵, 静动态分析

Abstract: In order to further improve the upgrading, assembly and maintenance efficiency of quadrotor agricultural UAVs and expand the application scope of agricultural UAVs, a modular design method for agricultural UAVs is proposed. Firstly, the correlation between any parts in the quadrotor agricultural UAV at the level of connection fixation, function and geometric parameters is comprehensively analyzed, the part relationship diagram is constructed, the highly correlated parts are clustered into parts, and the correlation matrix of the parts at each level is calculated. Secondly, using the AHP to give different weights to each level, calculate the comprehensive strength correlation matrix between components, and merge parts according to the module evaluation principle. Finally, the module structure is established, the corresponding modules are combined according to the job requirements, and the static and dynamic characteristics of the key functional modules are analyzed. The results show that: This modular design method simplifies 28 drone parts into 6 independent modules. When the UAV is updated, only the corresponding changed modules need to be redesigned and manufactured. The independence of the module simplifies the assembly process and reduces the maintenance cost. The 6 modules can be combined into spraying drones or spreading drones, so that drones are not only suitable for pesticide spraying, but also for seed and fertilizer sowing. Through the finite element analysis of the central cabin module, its maximum stress is 23.889MPa, which is much smaller than the maximum tensile strength of carbon fiber 4780MPa, the natural frequency of the first four orders is greater than the maximum frequency of 32.75Hz when the UAV is working, and its maximum morphological variable is 0.0046359mm, which meets the deformation requirements under the extreme working conditions of the UAV.

Key words: , agricultural UAV, modular approach, quadrotor correlation matrix, static and dynamic analysis

中图分类号:

S251
TH13

李鹏, 石永康, 万晓燕. 四旋翼农业无人机模块化设计及有限元分析[J]. 中国农机化学报, 2024, 45(5): 210-216.

Li Peng, Shi Yongkang, Wan Xiaoyan. Modular design and finite element analysis of quadrotor agricultural UAV[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(5): 210-216.

参考文献

［1］　陈盛德, 兰玉彬, 李继宇, 等. 植保无人机航空喷施作业有效喷幅的评定与试验［J］. 农业工程学报, 2017, 33(7): 82-90.
Chen Shengde, Lan Yubin, Li Jiyu, et al. Evaluation and test of effective spraying width of aerial spraying on plant protection UAV ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(7): 82-90.
［2］　王志翀, Herbst A, Bonds J, 等. 植保无人机低空低量施药雾滴沉积飘移分布立体测试方法［J］. 农业工程学报, 2020, 36(4): 54-62.
Wang Zhichong, Herbst A, Bonds J, et al. Stereoscopic test method for lowaltitude and lowvolume spraying deposition and drift distribution of plant protection UAV ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(4): 54-62.
［3］　刘学敏, 刘志辉, 梁燕, 等. 基于模块化设计理念的多功能收获机开发［J］. 中国农机化学报, 2012(5): 47-50.
Liu Xuemin, Liu Zhihui, Liang Yan, et al. Development of multifunctional harvesting machine based on modular theory ［J］. Journal of Chinese Agricultural Mechanization, 2012(5): 47-50.
［4］　吕健, 王震, 潘伟杰, 等. 基于层次聚类的定制产品模块划分方法研究［J］. 组合机床与自动化加工技术, 2019(11): 134-138.
Lü Jian, Wang Zhen, Pan Weijie, et al. Research on module partitioning method of customized product based on hierarchical clustering ［J］. Modular Machine Tool & Automatic Manufacturing Technique, 2019(11): 134-138.
［5］　华厚强. 模块化低空长航时无人机的设计与实现［J］. 电子测量技术, 2021, 44(9): 13-21.
Hua Houqiang. Design and implementation of a modular lowaltitude longendurance UAV ［J］. Electronic Measurement Technology, 2021, 44(9): 13-21.
［6］　罗志远, 王胜, 赖旭平, 等. 核级先导式安全阀的模块化设计［J］. 核动力工程, 2008(5): 98-102.
Luo Zhiyuan, Wang Sheng, Lai Xuping, et al. Modular design of nuclear pilot operated safety valve ［J］. Nuclear Power Engineering, 2008(5): 98-102.
［7］　吕冰, 陈梦佳, 李泽群, 等. 基于功能流模型的青贮机械模块化设计［J］. 机械设计, 2018, 35(8): 116-120.
Lü Bing, Chen Mengjia, Li Zequn, et al. Modular design of silage machinery based on functional flow model ［J］. Journal of Machine Design, 2018, 35(8): 116-120.
［8］　唐欣尧, 吉晓民, 周宏军. 自动缝边设备模块化设计方法［J］. 机械设计, 2022, 39(1): 75-84.
Tang Xinyao, Ji Xiaomin, Zhou Hongjun. Method of modular design for automatic seaming equipment ［J］. Journal of Mechine Design, 2022, 39(1): 75-84.
［9］　梁伟勇, 陈炳发. 基于可拓理论的模块匹配方法研究［J］. 机械制造与自动化, 2015, 44(6): 65-67.
Liang Weiyong, Chen Bingfa. Research on module manch methods based on extension theory ［J］. Machine Building & Automation, 2015, 44(6): 65-67.
［10］　余海宁, 姚丽华, 尹健. 模块式小型多功能农业作业机设计研究［J］. 中国农机化学报, 2013, 34(4): 134-138.
Yu Haining, Yao Lihua, Yin Jian. Design and research on multifunctional modula small farm machinery ［J］. Journal of Chinese Agricultural Mechanization, 2013, 34(4): 134-138.
［11］　刘璇, 张明路, 刘伟, 等. 特种机器人的模块化设计的研究［J］. 高技术通讯, 2010, 20(2): 175-179.
Liu Xuan, Zhang Minglu, Liu Wei, et al. Research on modular design for special robots ［J］. Chinese High Technology Letters, 2010, 20(2): 175-179.
［12］　孔朵朵. 电驱式小型半喂入水稻联合收割机模块化设计［D］. 贵阳: 贵州大学, 2017.Kong Duoduo. The modular design of electric driven smallscale headfeed rice combine ［D］. Guiyang: Guizhou University, 2017.
［13］　赵永博. 大型内齿圈加工机床的模块化研究与设计［D］. 秦皇岛: 燕山大学, 2018.Zhao Yongbo. Modular research and design of large inner ring gear machining machine tool ［D］. Qinhuangdao: Yanshan University, 2018.
［14］　Bin H, Zhi H L, Zhen L W, et al. Featurebased modular design method and its application in robot ［C］. 2010 International Conference on Measuring Technology and Mechatronics Automation. IEEE, 2010, 2: 256-259.
［15］　Wang Y, Zhang M, Su H. Modular design method and module interface development for small reconfigurable underwater vehicle ［C］. 2011 IEEE International Conference on Mechatronics and Automation. IEEE, 2011: 1479-1484.
［16］　Gu P, Sosale S. Product modularization for life cycle engineering ［J］. Robotics and Computerintegrated Manufacturing, 1999, 15(5): 387-401.
［17］　夏雄. 小型可移动式树枝粉碎机关键部件的研究［D］. 武汉: 华中农业大学, 2014.
Xia Xiong. Research on the key components on small movable branch grinder ［D］. Wuhan: Huazhong Agricultural University, 2014.
［18］　张俊红. 基于整车动力学仿真的FSAE赛车转向节有限元分析及优化［D］. 西安: 长安大学, 2017.Zhang Junhong. The finite element analysis and optimization of FSAE car steering knuckle based on vehicle dynamics simulation ［D］. Xian: Changan University, 2017.
［19］　刘峰, 高鸿渐, 喻辉, 等. 基于有限元的四旋翼无人机碳纤维结构优化设计与固有模态分析［J］. 玻璃钢/复合材料, 2017(4): 17-23.
Liu Feng, Gao Hongjian, Yu Hui, et al. The optimization design of quadrotor UAV carbon fiber structure and natural vibration analysis based on finite element method ［J］. Fiber Reinforced Plastics/Composites, 2017(4): 17-23.