基于四旋翼飞行器的空气参数检测系统设计

摘要

针对高空环境、危险环境中有害气体检测困难等问题，本文设计了一种基于四旋翼飞行器的环境参数检测系统。在对四旋翼的姿态控制进行深入研究的基础上，对PID控制与模糊PID控制算法进行了仿真分析，验证了模糊PID控制的快速性和平稳性。飞行器搭载空气参数检测模块，在天津地区进行了飞行实验，结果证明该系统飞行稳定、操作方便、能够有效地检测环境的温度、湿度、CO浓度、CO2浓度及空气中的烟雾浓度。利用此检测系统，可以使工作人员远离危险环境，通过无线遥控设备对空中及工业现场的五种环境参数进行检测。%To solve the problems in the detection of harmful gases in high-altitude dangerous environment, this paper designed a system of ambient air detection based on the quadrotor aerocraft. Based on the profoundly studying of the attitude control of quadrotor aerocraft, the PID controller and fuzzy self-tuning PID controller is designed and the latter method is more fast and stable. The flight experiments of aircraft equipped with air parameter detection module were carried out in Tianjin area. The results showed that the system was stable and easy to be operated and also could effectively detect the temperature, humidity, CO concentration, CO2 concentration and smog concentration in the air.With this detection system, not only the staff can be far from dangerous environment but also the five environmental parameters of the air and industrial scene are detected by the wireless remote equipment.